Modeling and simulation of a mechanism for suppressing the flipping problem of a jumping robot

TL;DR

This paper introduces a passive elastic joint mechanism to enhance the stability and smoothness of a micro robot's jumping motion, significantly reducing flipping issues and improving jump distance.

Contribution

The design and dynamic modeling of an elastic passive joint (EPJ) mechanism for micro robots' jumping stability is a novel approach.

Findings

EPJ effectively controls angular velocity and increases jump distance.

Simulation confirms EPJ's role in achieving flip-free jumps.

Parameter optimization enhances EPJ performance.

Abstract

In order to solve the problem of stable jumping of micro robot, we design a special mechanism: elastic passive joint (EPJ). EPJ can assist in achieving smooth jumping through the opening-closing process when the robot jumps. First, we introduce the composition and operation principle of EPJ, and perform a dynamic modeling of the robot's jumping process. Then, in order to verify the effectiveness of EPJ in controlling the robot's smooth jump, we design a simulation experiment based on MATLAB. Through comparative experiments, it was proved that EPJ can greatly adjust the angular velocity of the robot and increase the jump distance of the robot. Finally, we analyze each parameter in EPJ and performs parameter optimization. After optimization, EPJ achieves a completely flip-free jump of the robot, laying an important foundation for improving the mobility of micro-robot.