Simulation of the movement of a jumping robot

Authors: Rubtsov P.V.
Published in issue: #11(52)/2020
DOI: 10.18698/2541-8009-2020-11-653
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: mathematical model, MATLAB Simulink, jumping robot, control, five-bar jumping robot, motion simulation, motion control algorithm, MATLAB App designer
Published: 26.11.2020

The paper considers the issues of jumping robots relevance and their potentialities. A comparative analysis of the models of jumping robots is carried out, their advantages and disadvantages are evaluated. The jumping and landing of the selected robot was simulated in the MATLAB Simulink program based on its mathematical model, which includes seven sequential stages of structure and its links movement. In the resulting model, the basic controls were implemented. The features of the state of individual links are described depending on the current state of the system as a whole. A graphical interface has been developed for carrying out simulations at various values of the parameters. The results of modeling the movement of this robot for various design, external and target parameters are presented.

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