Research on Locomotion Characteristics of a Novel Hopping Robot
One legged mechanism model of a novel hopping robot is presented. The kinematics equations during stance and flight phases are established and its direct and inverse kinematics characteristics are studied by the D-H method. The expression about the hopped position is given. Dynamic characteristics o...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2024-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.02.018 |
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| Summary: | One legged mechanism model of a novel hopping robot is presented. The kinematics equations during stance and flight phases are established and its direct and inverse kinematics characteristics are studied by the D-H method. The expression about the hopped position is given. Dynamic characteristics of the hopping robot are analyzed by Adams software. The simulation results confirm that the horizontal/vertical displacement curves and horizontal/vertical velocity curves are consistent with the experimental ones. The research shows the feasibility of this hopping model and validity of the research method. |
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| ISSN: | 1004-2539 |