Design of a Miniature Jumping Robot

Yunqian Ma; Deyi Kong

doi:10.16578/j.issn.1004.2539.2022.03.013

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Design of a Miniature Jumping Robot

Design· Calculation | 更新时间：2022-09-24

- Design of a Miniature Jumping Robot
- Journal of Mechanical Transmission Vol. 46, Issue 3, Pages: 81-86(2022)
- 作者机构：
  
  1.中国科学院合肥物质科学研究院智能机械研究所，安徽合肥 230031
  2.中国科学技术大学研究生院科学岛分院，安徽合肥 230009
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.03.013
  CLC：
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马运前,孔德义.一种微型弹跳机器人的设计[J].机械传动,2022,46(03):81-86.

Ma Yunqian,Kong Deyi.Design of a Miniature Jumping Robot[J].Journal of Mechanical Transmission,2022,46(03):81-86.
马运前,孔德义.一种微型弹跳机器人的设计[J].机械传动,2022,46(03):81-86. DOI： 10.16578/j.issn.1004.2539.2022.03.013.

Ma Yunqian,Kong Deyi.Design of a Miniature Jumping Robot[J].Journal of Mechanical Transmission,2022,46(03):81-86. DOI： 10.16578/j.issn.1004.2539.2022.03.013.

摘要

针对现有机器人在森林、山地、坍塌区域等复杂的非结构化环境中移动困难的问题，设计开发了一款可搭载侦察或营救设备、在崎岖环境下进行高效运动的弹跳机器人。该机器人总质量为97.1 g，最大弹跳高度为1.5 m，具有一定的负载能力，可搭载设备进行实际应用。首先，将设计的几种弹跳机构方案进行理论分析对比，最终设计出稳定性最好、能量利用率最高的方案。其次，为了使得弹跳机构能够瞬间释放能量，设计了一款精简可靠的能量控制机构。该机构可有效控制储能机构，进行能量的快速存储与瞬间释放，使得存储的弹性势能高效地转化为机器人的动能。最后，在机器人的系统集成方面，从两个角度进行理论分析，得出了机器人合理的质量分布。

Abstract

Aiming at problems that it's difficult for existing robots to move in complex unstructured environment such as forest，mountain and collapse area， a jumping robot which can carry reconnaissance or rescue equipment to move efficiently in the rugged environment is designed and developed. The total mass of the robot is 97.1 g and the maximum jump height is 1.5 m， it has certain load capacity，and thus it can carry equipment for practical application. First of all，the theoretical analysis and comparison of several design schemes of spring mechanism are carried out，and then the scheme with the best stability and the highest energy utilization rate is designed. Secondly，to enable the jumping mechanism to release energy instantaneously，a compact and reliable energy control mechanism is designed. The mechanism can effectively control the energy storage mechanism for fast energy storage and instantaneous release，so that the stored elastic potential energy can be efficiently converted into the kinetic energy of the robot. Finally，in terms of system integration of the robot，a theoretical analysis is conducted from two aspects and a reasonable overall mass distribution of the robot is obtained.

关键词

机器人设计优化弹跳

Keywords

RobotDesignOptimizationJumping

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