Design Of Mars Hopping Robot

With deep space exploration,Mars exploration has become a hot topic in the world.In order to obtain the Martian atmosphere environment,soil,geological and hydrological data information,this topic designed a model suitable for the low gravity environment of microminiature star face detection robot.On the basis of comparing domestic and foreign research present situation analysis,by comparing the different ways of bounce and structure design of forms,the advantages and disadvantages of new bounce walking robot adopts pneumatic bounce and wheel combination of patrol bounce obstacle detection and task.According to the environmental characteristics and functional requirements completed the jumping robot overall mechanical structure design,the design adopts double steering gear control takeoff Angle adjusting mechanism,mainly including of crank rocker mechanism and accessories,according to the design requirements to complete the optimal design of crank rocker mechanism,has carried on the detailed to its regulatory role;Stability regulating mode with low center of gravity structure design method of automatic adjustment to modular division of the machine parts,structure layout to do the low center of gravity;In view of the jumping robot landing buffer shock absorption problem,put forward a kind of elastic buffer wheel design,and according to the work environment are introduced in detail the structure characteristics and working principle of the design.The bounce to bounce robot performance modeling analysis,established the single-acting cylinder under certain load vertical bounce,the mathematical model of motion process,analyzes the internal air pressure from the microscopic view,the change of quality parameters such as process,bounce model is established from the macroscopic Angle,the movement process is analyzed.The curve of pressure,displacement,velocity over time.In order to verify the correctness of the theoretical modeling,has set up a test bench for the simple cylinder bouncing motion,get the cylinder relation between design parameters in the process of jumping motion,and the correctness of the theoretical analysis is verified by experimental data.A relatively simple control system is designed to ensure the realization of the various functions of the bouncing robot.The different action of the bouncing robot is achieved by traditional keystroke,and the physical welding of the control board is completed by selecting the suitable components.Then,the static stress analysis of relevant parts was completed by ANSYS,and the virtual prototype simulation analysis of crankshaft mechanism was completed through ADAMS.Finally has carried on the physical prototype assembly,commissioning,test is made on the stability of bounce high,bounce,analysis the feasibility of pneumatic bounce obstacle-navigation method,the rationality of the design of mechanical structure.In the end,the shortcomings of the design of the jumping robot were analyzed,and the future research direction and the research focus were prospected.