Study of the Acceleration Modes of a Jumping Robot for Two Cases of Realisation

In this paper we consider two ways of the jumping robot can execute acceleration that differ from each other in terms of the sequence of stages. The robot consists of the body and the acceleration module. In the first case the acceleration module is first positioned as required relative to the surface and then the robot accelerates. In the second case positioning and acceleration occur simultaneously. A mathematical model of robot motion during acceleration is developed, as well as a model of contact interaction with the surface, a classification of acceleration modes is proposed and conditions under which they are observed are formulated.As a result of the numerical simulation, two acceleration modes are established under varying control and geometric parameters of the robot, as well as the properties of the supporting surface. During both modes the robot makes contact with the surface at two supporting points, but in one mode these points are fixed, while in the other they glide over the surface. The diagrams of the acceleration modes are constructed.