Mechanical Design and Dynamics Analysis on a Jumping Robot

Abstract

Aiming at the forest and wetland environment exploration mission, the mechanical structure and motion characteristic of a four-legs jumping robot are given particularly. Using the principle of virtual work states, the simplified dynamic model of one jumping leg is derived under some assumptions, and the relationship between the jumping height and thrust force of the leg is given and simulated. The simulation result have demonstrated the feasibility and validity of the theoretical analysis for the jumping robot.