Design and simulation of mobile and hopping robot

摘要

In order to adapt to the complex unstructured environment, a novel mobile and hopping robot is introduced in this paper based on the combination of wheel structure and hopping structure. The robot could choose its motion mode according to the detected landforms, which increases energy utilization efficiency and the ability of adaptation, as well as extending its motion range. The structure of the robot, which includes the mobile mechanism, taking-off pose adjustment mechanism, hopping mechanism and main frame, is designed. Then the movement performance of the robot is analyzed and the simulation is conducted to prove the correctness and effectiveness of the structure design of the robot and the theoretical analysis. The research results show that this robot can adapt to complex terrain, and it can be used in planetary exploration and battlefield reconnaissance in the future.