Simulation Study And Motion Analysis Of The Jumping Robot In The Jumping Process

Jumping Robot has strongly variety structure, flexibe movement and adapted application,so, it has the good studying value in the applying outlook. This paper concentrates on thelegged jumping robot; it founds the structural model, it analyzes the kineatics and kinetics,then, it studys the trajectory of the robot’s joint space and simulates the virsual samplemachine.First of all, on the basis of analyzing the formation of various jumping biology, this paperdesigns a legged jumping robot and abstractly build a structural model to expressing thestructural parameters of robot. This paper mainly analyzes the redudanced freedom.Secondly, in this paper, the position, velocity and accelaration of per centroids and totalcentroids are established, and uses the variable quartic polynomial interpolation method toplanning out the trajectory of the robot’s centroid. Because of exsisting the redudancedfreedom in the take-off phase and lump-over phase, it optimizes the calculated joint trajectoryand contrasts the unoptimized. In the fall-off phase, in case of no redudanced freedom, theauthor directly simulates the kineatics based on the theory of softland.Moreover, on the basis of the legged jumping robot’s kineatics model, the authoranalyzes the kinetic energy, potential energy and generalized force; and establishes the kineticequation of the robot in take-off、lump-over and fall-off phase; then simulates the equation;and completes the kinetic analysis in the jumping process.Finally, this paper simulates the transmission system of the legged jumping robot. Itestablishes the kinetic model and the control model separately applying ADAMS andMATLAB, through the joining module of ADAMS and MATLAB, achieving theestablishment of the virsual sample machine based on the ADAMS and MATLAB, thensimulates the robot’s jumping in the total process.This paper this dissertation has the important feature in modeling and controllingarithmetic of the legged jumping robot.