Mechanism Design And Simulation Analysis Of Cat Jumping Robot

A Under complex background conditions,the mobility of mobile robots using wheeled and crawling motion modes will be subject to many restrictions.Especially when obstacles seriously affect the movement of robots,the requirement of robots to cross terrain obstacles puts forward higher requirements on the mobility of robots.Therefore,in order to improve the ability of the movement of the mobile robot,especially the ability to cross obstacle,this study based on imitation animal movement of the bionic research,and refer to the analysis of characteristics of a large number of cats movement data,and through to the real life observation,the cat cat motion jumping height and jumping distance data such as records,we design a copy cat jumping robot hopping mechanism.In the robot designed and studied,the driving mode of each joint provides the motion power through the driving motor.The spring mechanism used in the robot mechanism has the function of storing energy and releasing energy.Through a series of changing processes,such as charging,storing energy and releasing energy,jumping movement can be realized.After the 3d model is established,the designed model is abstracted and the abstract motion model is obtained.Through the simulation analysis of the motion model,the displacement,velocity and acceleration curves of the center of mass and the reference point of the mechanism are compared and analyzed.On the basis of establishing the theoretical model,the jumping movement of the mechanism was simulated by MATLAB to realize the purpose of simulating cat jumping.Meanwhile,the relationship between the jumping attitude and the jumping stability was verified by analyzing the changes of the Angle of each joint during the takeoff.A prototype of feline jumping robot was established and its jumping motion was simulated.The main parts of the mechanism designed in this research are all made of aluminum alloy,and the materials used by other common robots are also compared and analyzed.The selected joint drive motors are miniature servo motors.After material selection and overall 3d design,kinematics analysis software ADAMS was used for simulation analysis.Jump process simulation to build a virtual prototype using ADAMS,in the process of simulation,given to the physical parameters of the robot as well as several different takeoff position choice,after each driving joints,each point position and function to add the required torque force contact constraint,which makes the simulation process is more close to the real process of jumping movement and jumping movement simulation result is obtained.The feasibility of the designed mechanism is verified by analyzing the simulation results.The results show that the mechanism design of the feline jumping robot is feasible.In addition,in the process of the study,we also made a comparative analysis on the choice of different jumping attitude,different material and different take-off driving force.In the process of simulation,the difference of jumping ability and jumping trajectory of robot under different conditions is also obtained.Finally,through the analysis of all the results,we choose the most conducive to the robot take-off posture,robot materials and robot structure parameters,so as to provide a program for the research of jumping robot take-off posture and bionic robot.