Design And Control Of Monopode Hopping Robot With Variable Mechanical Advantage

Bouncing robot has attracted more and more attention due to its characteristics such as agile movement and strong adaptability to terrai n environment.In particular,prospective research on small jumping robot has been constantly burst out in the field of star catalogue exploration.For a long time,the high efficiency mechanism design and precise and simple control method of bouncing robot have been the focus of research in this field,and scholars at home and abroad have made rich research achievements in this direction.This paper takes variable mechanical gain as the design goal of the leg mechanism,designs a jump mechanism which combines rigid six bars and elastic foot plate,and designs a complete control system,which provides effective reference for the mechanism design and control method of the single-legged jumping robot.Firstly,the design index of the bouncing robot was decomprised.Combined with the joint extension strategy of the robot,the leg mechanism was optimized with the Stephenson type six-bar mechanism as the parent body.A single-legged jumping mechanism was designed with the combination of rigid six-bar and elastic foot plate including cross-double-joint spring.The balance control of the bouncing robot depends on the balance swing bar located at the frame.Based on the design of the mechanism,the vertical jumping simulation was carried out,and the energy conversion efficiency of the bouncing mechanism was analyzed.Secondly,starting from the dynamic modeling of the ground touch phase and flight phase,the precise control method of the ground touch phase and the attitude Angle control method of the flight phase are studied respectively based on the dynamics model feedforward and fuzzy PID controller.A continuous jump controller is designed to decouple jump speed and jump height,and the periodic action of continuous jump is planned.Aiming at the rugged terrain,the terrain adaptive problem of the bouncing robot is solved by the optimization method.Finally,the simulation platform for the dynamics of single-legged jumping robot was built,and simulation experiments were carried out for intermittent obstacle jumping,continuous jumping at different speeds and continuous jumping on rugged terrain.The simulation results verify the controllability of the take-off,stagnation and landing stages in the process of intermittent obstacle crossing,and verify the rationality of the decoupling control algorithm in the continuous jumping motion and the effectiveness of the optimization method on rugged terrain.The research results can provide a technical basis for the development of single-legged jumping robot.