The Research And Mechanical Design Of The Hybrid Two-wheel-hopping Robot

Hopping robots can traverse obstacles whose height may be several times or evendozens of times than its height, and hopping can help robots avoid sudden dangers.Combining the hopping movement with other movements could greatly improve therobots’ mobile scope and surviving ability, expend the robots’ adaptability to variousterrains.The paper firstly introduces the mechanical design of the hybridtwo-wheeled-hopping robot. This robot has two movements: one is wheeled, the other ishopping. The wheeled movement is directly actuated by the motors and applies thedifferent speeds to turn around. The hopping movement is achieved energy and releasedinstantly by closing and opening the clutch. Based on the mechanical design the twomovements are approximately decoupled: the hopping has no effects on the wheeledmovement. However, if the robot wants through hopping to traverse obstacles or ditchesand so on, it must adjust the wheels’ velocity (horizontal direction) with the hoppingvelocity (vertical direction).Secondly the hybrid two-wheeled-hopping robot’s hopping model is analyzed andpresenting a single mass-spring system and two-mass-spring system. Then make thetwo-mass-spring system the hopping model, analyze the hopping dynamics. Based on that,the paper further provides the problems when the robot is in the hopping process.Applying the energy-consuming least method chooses the hybridtwo-wheeled-hopping robot’s movement. The time distributing and factors influencing thehopping height are analyzed, in the following the paper presents the main causes leadingto the energy loss in the hopping process.Lastly using Adams simulates the factors influencing the hopping height. Throughsimulation the paper verifies the feasibility of using springs to store energy and it can helpoptimize the whole design of the mechanism.