Research On A Bouncing Robot For Mars Exploration

With the deepening of deep space exploration in the world,the world has gradually turned its attention to Mars-based low-gravity planets.Based on the present situation of research at home and abroad,the advantages and disadvantages of different structure design and jumping mode are obtained.A totally new bouncing robot is developed.By comparing the spring energy storage modes of different structures,a kind of superior performance was chosen as the research direction.According to the structure design,combining the advantages of different reduction methods and designing a reasonable reduction scheme;the robot bounce process is conceived.On the structure of bounce robot,the bounce mechanism,the angle adjustment mechanism and the whole body of the robot are designed.According to the mathematical model,the range of spring stiffness of the bounce robot is solved.The center of mass design is used to ensure the stability of the robot bounce.On the mathematical model and simulation analysis of the bouncing robot,the kinematics and dynamics mathematical model of the bouncing robot is built.And the theoretical calculation and Adams simulation analysis of the bouncing performance are run.Through the boundary conditions,the validity of the theoretical model of the bouncing robot is verified.Some parts of robot are analyzed by ANSYS to ensure its reliability.On the electrical control design and experiment of the bouncing robot,according to the functional requirements of the bouncing robot,the appropriate components is selected and the corresponding electronic control system is designed;In order to ensure the normal operation of the bounce robot,the research on electromagnetic interference and thermal insulation is carried out.Under specific experimental conditions,the bouncing robot was tested to obtained its bounce performance,bounce stability and spring energy utilization rate.