Research On Single-Leg Bouncing Robot

In the vast world,there is a wide range of unstructured pavement environment.As a kind of machine of biological legs,the robot with legs has the advantages of fast moving speed,high moving efficiency and fast crossing obstacles and gullies in unstructured pavement environment,which has long been the focus of scholars and scientific research units of various enterprises.As a kind of robot with legs,the single-legged bouncing robot has the superior ability to bounce over obstacles,gullies and move quickly in unstructured pavement environment,thus replacing the inaccessible and dangerous destinations such as nuclear leakage ground rescue,planet surface detection and so on.However,because the bouncing motion performance of single leg bouncing robot is related to the robot's own structure,motion state and loss of energy due to contact collision during moti on,as well as motion stability.The main research content in this paper:(1)According to the analysis of domestic and foreign research status of this subject,the influence of different structure of bouncing robot on the performance of bouncing motion is compared according to the structure,the bouncing robot is divided into three categories: vertical telescopic type,bionic joint type and mixed type.(2)The motion state of the single-leg bouncing robot is analyzed in detail.The motion state of the previous bouncing robot is decomposed into multiple motion processes,which not only complicates theoretical derivation,but also adverse factors caused by subsequent kinematics modeling and analysis solutions.Considering the characteristics of the bouncing movement of the single-leg bouncing robot in this subject,it is necessary to clarify the mechanism of the bouncing movement.Therefore,this article first divides the bouncing movement into two processes,namely the static movement of the bounce and the dynamic movement of the bounce.Establish a friction model between the foot and the ground in the static movement of the bounce,and determine whether the foot will slip on the ground according to the friction conditions.(3)The kinematics and dynamics equations of the single leg bouncing robot are established,the contact between foot and surface is analyzed,the contact force model is established,and the stability of motion is analyzed.Then,the adaptive tracking control strategy is designed for leg motion,and the simulation results are obtained by simulation experiments.Secondly,the robot model is established in ADAMS/View,the control is built in the MATLAB/Simulink,the joint simulation input and output interactive interface is established,and the interactive information and the correctness of the robot model are verified.Finally,the Co-simulation experiment is carried out.The effects of jumping height and energy compensation,the angle of torso and leg landing and the forward speed on the performance of bouncing motion are analyzed respectively.