A Wheeling-Hopping Combination Scout Robot

摘要

A hopping robot can jump over the barrier several times higher than its own height. The combination of the hopping movement and the wheeling movement can greatly enhance the scope of robot's activities. In this paper, a novel five-shank hopping mechanism was employed to build the wheeling-hopping combination scout robot. The nonlinear character of the five-shank hopping mechanism was analyzed and then used in the proposed nonlinear spring-mass model for the robot. The rules of robot's movement were deduced, influencing factors of the jumping height were analyzed and the countermea-sure was adopted. Finally, a simulation analysis and an experiment of the robot's movement were carried out. The results showed that the robot has strong locomotivity and survival ability.