System Design On Dual-joint Continuous Jumping Robotics Based On Soft Landing

Jumping robot has a high kinematic dexterity, of which continuous jumping robot withfaster movement and higher energy utilization, having further prospects and research value.One of the keys in continuous jumping robot research is to improve the stability of landing,achieving the aim of stably continuous jumping.Through researching the way of achieving the aim, this paper proposed the thought ofsoft landing to ensure the stability of landing. After the comprehensive analysis of theresearch on the stability and the soft landing of robot, dual quality-spring model wasanalyzed instead of the mechanism model, the main ideas and methods of soft landing of therobot was put forward and the conditions satisfying continuous jumping robot was ultimatelydetermined.After summarizing and analyzing the robot performance and characteristics of existingjumping robot, with the conditions that satisfies to achieve soft landing of dual-jointcontinuous jumping robotics, overall design of two-joint robot was proposed, with the agencymodel of the robot determined, and the robot’s movement, especially the soft landing processwas analyzed.Based on the overall design and the conditions that helps achieve soft landing, the mainbasis of the structure design on the dual-joint continuous jumping robotics was put forward.Then the structure design was completed.The kinematics and dynamics analysis of the landing process was made, deciding therelationship among the forces suffered from the ground, joint angle and speed.Taking the mission space requirements of landing into consideration, the robot’s missionspace trajectory was planned, and then the mission space trajectory was solved according tothe equations of motion of landing. After that, ADAMS dynamic model and Simulink controlsystem model of landing were built, and the dynamic virtual prototype based onADAMS-Simulink co-simulation was built. According to the joint space trajectory plannedbefore, the simulation of soft landing process was made.Starting with the objectives and functions of control system, the robot’s control systemwas designed through the thought of functional modular design, building the correspondingexperimental platform to make experimental study, and ultimately the correctness of thedesign and analysis was verified.This paper analyzed the soft landing process of the robot, and proposed the research ideas and implementation methods, and then verified them through simulation andexperiments, having some certain research value on the implementation and application of thestability in robotics landing process.