Study On The Dynamic Performance Of Pneumatic Joint-type Bouncing Leg

Bionic jumping robots that combine the animal and robot fields of jumping motion have the characteristic of jumping with discrete locations,and are able to accumulate explosive forces instantaneously for long-distance and large-altitude jumps.The primary characteristic for achieving long-range and large-altitude jumps is strong explosive power with good controllability.Where motors and hydraulic powertrains are unable to provide sufficient explosive power,a cylinder drive is the ideal power source for an articulated spring-legged robot that combines explosive power,controllability and self-cushioning.A pneumatic articulated bouncing leg robot was designed based on bionics principles,and a mathematical model for the pneumatic articulated bouncing leg vertical jump was built based on knowledge of pneumatics and dynamics.A pneumatic articulated bouncing leg robot was used as a study subject to divide the vertical jump of the jumping robot into touchdown phase and take-off phase.The touch phase includes stationary,take-off phase,off-ground moment,touchdown moment,buffer phase,adjustment phase,return to initial state or continuous jump.The vacated phase includes both the ascent and descent phases.The kinetic,aerodynamic and flow equations for the touchdown phase,the jump pressurization phase,the jump recovery phase and the landing buffer phase,and the kinetic equations for the airlift phase include the jump height equation and the velocity change model.Build a vertical jump simulation model of articulated bouncing leg on the MATLAB/Simulink simulation platform,simulate the vertical jump stages and plot the dynamic characteristics of each stage.To build a simulation model of the vertical jumping touchdown phase and the vacating phase of the pneumatic articulated bouncing leg,to build a model of the jumping pressurized phase,the jumping impact phase and the touchdown buffer phase of the touchdown phase,and to analyze the changes in the dynamic parameters of the jumping cylinder caused by changes in the relative piston displacement of the jumping cylinder.Analysis of the jump height and speed variation of an arthro-legged robot on the phase construction height and speed model.Curve the dynamic properties of an arthro-legged robot for one cycle of vertical jumps and analyze the factors that affect the jump height.Construction of a pneumatic articulated bouncy leg vertical jumping test platform based on mechanical design,pneumatic system and electrical control knowledge.The mechanical design simplifies the effect of the knee and ankle joints on vertical jumps.In the 3D model,the knee bending angle is adjusted so that the center of gravity is on the centerline of the jumping cylinder of the power calf when the robot jumps vertically.The pneumatic system is composed of FESTO DNCI series cylinders,pneumatic three elements,solenoid valves and Heng de Group's gas source as a supplementary structure.the electrical control system is an industrial control machine as the main system.Design the experimental steps according to the needs of the experiment.