Analysis Of The Overall Structure Of A Jumping Robot And Its Control Module

The jumping robot is a kind of special robot with many advantages,such as fast movement speed,low energy consumption,strong adaptability to the environment,and strong obstacle ability.Therefore,jumping robots have broad application prospects in the military reconnaissance,search and rescue activities,interstellar exploration and many other fields.Based on the comparative analysis of the development of biomimetic robots and jumping robots,this paper designs a kangaroo-type jumping robot following the kinetic principle of kangaroo living body.The whole structure and its control module are designed.And the servo motor control system is studied.For the whole structural design of the jumping robot,firstly,the kinetic principle and kinematic mechanism of kangaroo biological system are analyzed.Then,according to the biological characteristics of the kangaroo,the functional requirements and technical indexes of the jumping robot are analyzed.Finally,combined with mechanical principles and biology related knowledge,design the overall structure of the fuselage.For the jumping robot control module design,firstly,starting from the attitude detection,the attitude data of each part of the jumping robot are analyzed according to the dynamic simulation results.The attitude detection method is selected according to the attitude variation characteristic of each component.Next,the attitude of each part is detected by means of height detection and angle detection.Based on the theoretical data,the feasibility of the attitude detection method is analyzed.Then,based on the result of attitude detection,combined with dynamic simulation data,the attitude control target is analyzed,design attitude control implementation.Finally,according to the data of attitude control theory analysis,to prove its feasibility.In addition,at the end of each chapter,the software and hardware scheme of attitude detection and attitude control are designed.The paper also completes some experiments aiming at jumping attitude detection and control.It includes three parts:Physical experiment of angle detection and height detection of single jump attitude detection and control,software simulation and physical operation verification of continuous jump attitude control system and target identification verification experiment for future application requirement design.The research has a certain reference value for the design of the jumping robot's measurement and control system.