Mechanism Design and Jumping Motion Performance Research of a New Type of Bouncing Self Balancing Robot
A bounce self-balancing robot structure with a reaction wheel type self-balancing mechanism and a six-link bounce mechanism is designed.Firstly,the necessary components of the reaction wheel self-balancing mechanism used by the robot are designed and calculated,and the required PID control system is designed to ensure that the robot can maintain balance in the air and land smoothly.Secondly,two types of bounce mechanisms are designed and the scheme with higher energy utilization rate is selected.Subsequently,an energy storage mechanism with energy storage,maintenance,and rapid release is designed to ensure high energy utilization during the bounce process.Finally,an example verification is conducted using ADAMS for motion simulation analysis,verifying the feasibility of mechanism design and exploring the influence of component selection on the motion performance of the bouncing self-balancing robot.This work lays the foundation for further physical experiments in the future.
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