Mechanism Design and Locomotion Performance Analysis of the Foldable-wing Jumping Robot
BAO Yannian1, JIANG Haiyi2,3, LUO Tianhong2, LI Zhongtao2
1. School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China;
2. School of Mechanotronics & Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China;
3. School of Mechanical Engineering, Chongqing Vocational Institute of Engineering, Chongqing 402260, China
Abstract：A foldable-wing jumping robot is designed in order to improve the jumping performance of jumping robot and solve the problem of the posture adjustment and the jumping distance. The jumping orientation and the take-off angle of robot are controlled by adjusting the posture of open-chain spatial mechanism of multi-chain jumping mechanism, meanwhile the downward gliding characteristics of the foldable-wing are studied to increase the jumping distance of the robot. Attitude adjustment simulation and trajectory simulation are carried out, and the jumping motion experiments are conducted on the prototype of the developed foldable-wing jumping robot. As a result, the robot prototype shows good jumping performances. The jump height is about 0.98m, when the take-off angle is 80°. And when the take-off angle is 60°, the jump distance is about 3m, which is about 1.7 times that of the jumping robot without foldable wings in comparative experiments, but the jump height is slightly lower than that of the jumping robot without foldable wings. The foldable-wing jumping robot is of good jumping performance and can complete jumping movements with any posture on the ground.
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