Structural design and performance analysis of hopping robot with buffer devices

被引：0

作者：

Wang, Jian ^{[1
]}

Zhang, Wenxiang ^{[1
]}

Xu, Chenglong ^{[1
]}

Wang, Chenjie ^{[1
]}

机构：

[1] School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing

来源：

Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University | 2025年 / 43卷 / 02期

关键词：

buffer device; hopping robot; kinematics; landing stability; structural design;

D O I：

10.1051/jnwpu/20254320316

中图分类号：

学科分类号：

摘要：

The existing hopping robot has large landing impact and poor landing stability. Therefore, a hopping robot with a new buffer device is designed. The anti-rotation mechanism in the buffer device is used to reduce the landing impact. The unidirectional bearing and damping ring are jointly employed to avoid the rebound of the hopping robot when the buffer device absorbs ground impact forces. Based on the principles of robotic mechanism, the main structure of the hopping robot is designed. Its motion principles are analyzed and its motion procedures are developed. The kinematics models of the hopping robot in its takeoff, flight and landing stages are established by using the D-H method. Its dynamic models in the takeoff and flight stages are studied according to the second-type Lagrange method. Its landing stability is analyzed based on the zero moment point (ZMP) theory and the ZMP trajectory plot is drawn. The hopping robot prototype is developed with the 3D printing technique and experiments on it are carried out. The study results significantly enhance the hopping stability of the hopping robot and reduce its landing impact. ©2025 Journal of Northwestern Polytechnical University.

引用

页码：316 / 325

页数：9

共 15 条

[1]

LIU Zhuangzhi, ZHU Jianying, WU Hongtao, Et al., Analysis on the landing impact and stability of the intermittent one-legged hopping robots, Mechanical Science and Technology for Aerospace Engineering, 23, 9, pp. 1068-1071, (2004)

[2]

MO Xiaojuan, GE Wenjie, ZHAO Donglai, Et al., Review: research status of miniature jumping robot, Journal of Mechanical Engineering, 55, 15, pp. 109-123, (2019)

[3]

KOVAC M, SCHLEGEL M, ZUFFEREY J C, Et al., A miniature jumping robot with self-recovery capabilities, IEEE/ RSJ International Conference on Intelligent Robots and Systems, pp. 583-588, (2009)

[4]

ARMOUR R, PASKINS K, BOWYER A, Et al., Jumping robots: a biomimetic solution to locomotion across rough terrain, Bioinspiration & Biomimetics, 2, 3, pp. 65-82, (2007)

[5]

HO T, LEE S., A novel design of a robot that can jump and roll with a single actuator, 2012 IEEE/ RSJ International Conference on Intelligent Robots and Systems, pp. 908-913, (2012)

[6]

WOOD R J, AVADHANULA S, SAHAI R, Et al., Microrobot design using fiber reinforced composites, Journal of Mechanical Design, 130, 5, (2008)

[7]

BIRKMEYER P, PETERSON K, FEARING R S., DASH: a dynamic 16g hexapedal robot, IEEE/ RSJ International Conference on Intelligent Robots and Systems, pp. 2683-2689, (2009)

[8]

GALLOWAY K C, CLARK J E, KODITSCHEK D E., Design of a tunable stiffness composite leg for dynamic locomotion, ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. 1-8, (2009)

[9]

CHEN Diansheng, ZHANG Ziqiang, CHEN Kewei, Energy allocation in landing buffering process for biomimetic locust mechanism, Chinese Journal of Mechanical Engineering, 51, 13, pp. 196-202, (2015)

[10]

XIAO Jingcheng, Design and analysis of the structure of the buffer device of the bionic frog forelimb movement law, (2021)

← 1 2 →