| Summary: | 碩士 === 國立勤益科技大學 === 機械工程系 === 105 === In recent years, more and more on the Hopping Robot research, in response to avoid obstacles on the ground, jumping movement is the bests and easiest option. In this paper, a simple hexapod robot model is established. Law of conservation of mechanical energy, and vector loop method are used to establish the analytical equation, for the vertical jump of hexapod robot. In addition, the model of jumping action is divided into six stages, the analytical equation of establishing respective stage, to solve such as height, speed, and other specific unknowns.
Use SOLIDWORKS to build the model and obtain the data needed for the calculation. These data are entered into the program of establishing in the commercial mathematics software MATLAB and the calculation results are taken as the basis for designing the robot. According to the calculation results, when the jumping action not yet left ground and the spring is placed on the mass center of Link3 and Link4, and the spring constant is 4000N/m, the maximum balance torque is 10.93N-m and the maximum distance the ground height is 99.8mm.
Crucial the jumping mechanism, It is the use of non-binding characteristics of the gear to design, when the gear from the binding state to non-binding state, will make the original pure rolling movement changes, resulting in the mechanism separate, and then make the rod movement to make the body obtain upward force.
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