Dynamic Analysis and Simulation of a Deformable Wheeled Jumping Robot

The jumping mobile robot is of great significance in rescue and search activities by virtue of efficient movement mode, strong obstacle jumping ability and environmental adaptability. The research object of this paper is an intermittent jumping robot with deformable wheel mechanism, which effectively combines jumping and wheeled movement. In order to realize the effective control of jumping movement, by considering the friction conditions, the Lagrange dynamic equation of the robot system is deduced based on the multi-rigid-body dynamics theory. The leaping condition of the robot is determined according to the constraint equation of the take-off moment. The theoretical failure angle of the robot jump is given, and the relationship between the take-off angle and distance that involves jumping height and length is derived. Finally, the flight process of the robot under different take-off angles is simulated, and the effectiveness of the failure angle in robot system and the correctness of the dynamic analysis are verified by the simulation and experimental results.