Design and Simulation of Hopping Robot Based on Case-Like Structure

摘要

Hopping robot has an efficient capability of striding obstacles. Some related progress has been made both overseas and domestically, but researches on improving its stability and recovering landing pose are still insufficient. The height and the length of hopping are crucial for hoppingrobot in the process of striding obstacles. Combined traditional hopping structure design, the paper puts forward a novel case-like hopping structure based on tumbler principle, which can support to hop, to make projectile motion, to protect hopping structure, to make repeated hops, as wellas recovering and adjusting the pose itself. Then, we acquire the data by 3D modeling and verify the reasonability by ADMAS dynamic simulation.