Design And Research Of Hopping Self-balancing Robot

The flexibility of mobile robot motion is paid more and more attention,In the face of harsh environment,complex terrain and dangerous areas,robots need to have a strong ability to exercise autonomously and survivability.Traditional walking or crawling robots,as well as wheeled and crawler robots,have limited barrier crossing capabilities and are even difficult to move in the face of non-planar environments such as stairs,gravel,ditches,etc.,which are higher than their height.Compared with wheeled,crawler and foot mobile robots,hopping robots have stronger obstacle surmounting ability and can easily surmount obstacles several times as much as their own.Jumping motion is more flexible than rolling and crawling,and its explosiveness makes it easier for robots to avoid danger and to move in complex and unknown environments with better self-protection ability.But hopping robot also consumes a lot of energy,energy storage and release mechanism is easy to wear and tear,jumping height and distance is difficult to accurately control and so on.It is very important for the performance of hopping robot to improve the mechanical structure of hopping robot to make it more reliable,durable and efficient.The motion ability of a hopping robot depends to a great extent on its mechanical structure,driving system and intelligent control system.In this paper,a self-balancing hopping robot is designed which combines the fast and efficient wheeled movement and the flexible maneuverability of the hopping robot.It can use wheeled motion on flat ground and change to self-balancing and self-supporting state when there are obstacles,and the robot's jumping angle is adjusted according to the height of obstacles and the distance needed to jump,then use the hopping motion to overcome obstacles.The robot 0design involves the structure design and three-dimensional modeling,parts manufacturing,dynamic system modeling,particle swarm optimization,control method,simulation and prototype experiment of the mechanical body of the hopping robot.The following research results are obtained:(1)According to the performance requirements of robot motion in complex environment,a new type of hopping self-balancing robot which can realize bounce motion and self-balancing wheeled movement is proposed by combining the two kinds of motion of bounce motion and wheeled self-balancing rolling.The robot can transform the motion mode according to the desired motion state,take the bounce movement over when encountering the difficult obstacle and the ground sag,and use the wheel rolling to move quickly on the more flat ground to improve the robot's motion performance and energy efficiency.(2)The cylindrical cam is designed as the main executive mechanism of the springing system.Through the cylindrical cam contour curve,the energy storage,locking and release of the springing mechanism can be controlled.The volume of cylindrical cam is reduced by self-contained planetary deceleration motor,which reduces the center of gravity of the robot and improves the stability of the robot.A two-wheel drive system was designed to make the cylindrical cam springing system included in the cylinder where the two driving wheels are located,so that the self-balancing wheel rolling mechanism and the springing mechanism can be perfectly integrated.(3)Based on the mass-spring dynamics model,through the Lagrangian kinetic equation of the robot,the design parameters,starting conditions,starting speed and energy conversion of the hopping self-balancing robot are studied,and the mechanism of the bounce motion of the robot is analyzed,which provides a theoretical basis for the subsequent structure and control optimization.The motion simulation environment of Bounce robot is established by using ADAMS dynamic simulation software,and the correctness of theoretical analysis is verified by simulation.For the two-wheeled mobile system,the motion model of the wheeled system is given firstly.The dynamic model of wheeled self-balancing system is established,and the control state equation of self-balancing system is given according to the dynamic model.The simulation model is established by MATLAB,and the correctness of the control scheme is verified.(4)The contour curve of cylindrical cam is optimized with the aim of bouncing height,energy efficiency and reducing maximum motor torque.Firstly,the driving moment expression is analyzed,and the cylindrical cam contour line of cosine acceleration curve is constructed according to the design size.Then by setting the optimization indexes such as peak value of driving moment and smoothness of torque curve and some constraints,the particle swarm algorithm is used to optimize the cam curve of Bessel curve structure.Through the comparison of data,the optimized cylindrical cam curve has the advantages of smooth motion of original moving parts,no mutation of load torque,and low requirement for instantaneous input torque.(5)The physical prototype of self-balancing bounce robot is made,and the hardware and software of robot control system are designed.By comparing the data obtained by experiments,the rationality of the structure of the designed self-balancing bounce robot and the correctness of the theoretical analysis and control algorithm are verified.