Jumping Mechanism And Experimental Studay Of Pneumatic Double Joint Spring Leg

Foot hopping robot has the advantage of divergent landing points and can adapt to complex terrain,and has a wide application prospect in interstellar exploration,disaster rescue and military exploration.However,the existing motor-driven and hydraulic driven hopping robots lack strong explosiveness,and need a long time to store power to provide hopping power.In this paper,a two joint hopping robot driven by compressed gas is proposed,which is explosive and stable.In this paper,a foot type pneumatic two joint hopping robot is designed,which has ankle joint connecting sole and leg,knee joint connecting leg and thigh.Based on multi-body dynamics,the centroid of the spring leg in the base coordinate system is solved.The kinematics and dynamics models of the spring leg are listed and solved,and the cooperation mode of the three cylinders of the spring leg is calculated.Take off angle,take-off center of gravity position,leg swing angle and landing center of gravity position are planned.Ensure that the robot take-off angle and landing angle complement each other,when landing,the sole of the foot is parallel to the ground,offset the horizontal speed of the jump,and achieve stable landing.By innovating the separation technology of ankle joint and power leg,the jumping power of the robot is increased by 60%.By establishing the mathematical model of kinematics and dynamics of all pneumatic hopping robot,and using Solid Works and other software co simulation,the long jump movement of the robot with a distance of 1m is realized,the complete simulation data of various variables of the robot is obtained,and the 3D hopping simulation video in the virtual prototype is produced.The robot jumping power experiment platform is built and the robot jumping power experiment is completed.In this paper,a foot type pneumatic two joint hopping robot is designed,which is completely driven by air pressure,has a certain load capacity and has strong explosiveness.A hopping method based on the robot's rotation and swinging thigh to control the angle between the leg and the ground is planned,which meets the requirements of strong explosiveness and stable hopping.