Research On Wheeled-Hopping Robot And Its Control System

Hopping robot can jump over obstacles with several times of its sizes, and have a strongadaptability of unknown environment. The unknown environment ground mobile robot whichcombines the traditional movement with hopping movement can choose the prefect mode of motionbased on the different environment, by this the onboard energy utilization rate is improved and themotion range is enhanced. It has important value of research and application.Through the analysis of the motion process and performance requirement about the groundmobile robot, the robot is determined to adapt the movement scheme that combine the wheeledmovement with hopping movement. Combining the combustion-powered actuator which has beenproduced, the wheeled-hopping robot is designed. Based on the analysis about requirements ofsoft-landing buffer, the non-pneumatic tire is applied to partly absorb the energy produced whilelanding. Through the Timoshenko beam theory, the mechanical of the tires made by PU material isdesigned, and the tire is produced by3D printing, mould production, injection molding. The staticdeformation, the landing performance and the recovery deformation is tested, and the result of testmatches with the result of analysis. Check the intensity of the body and axle based on the result.According to the analysis and design above, the wheeled-hopping robot is produced and assembled.The control systems of the robot have been designed based on the chip of MSP430F149,including posture adjustment, gas control, fire control, wheeled moving and wireless control. Basedon the results of experiments about the performance wheeled motion, posture adjustment,landing-buffer, the whole robot movement is tested.The obstacles are detected and measured through imaging processing technology based on theappearance of image, and the path for wheeled motion is planned. The result shows that the robot canfollow the path planned before.The result shows that the wheeled-hopping robot has the abilities of wheeled moving andhopping moving, the speed of wheeled movement is about0.34m/s, the hopping movement can jumpover the obstacle of1m height and0.3m thickness with the speed of5.47m/s and angle of72degree,and jump to the obstacle of1.3m height and1m thickness with the speed of5.67m/s and angle of73degree.