Modeling and Analysis of a Jumping Robot with Deforming Wheeled Mechanism

For complicated and rugged disaster relief circumstances, a jumping robot mechanism with deforming wheeled mechanism was designed and developed, it is based on the principle of frog legs jumping. By combining the design method of wheeled mechanism and jumping mechanism, a kind of deforming wheeled mechanism is put forward, it has realized the effective reduction of weight and the rapid completion of the jumping movement. A symmetrical crank slider mechanism is adopted for the deforming wheeled mechanism. The trigger mechanism and the locking mechanism are designed, so that it can switch among several kinds of motion modes, such as wheeled movement, wheeled obstacle climbing, jumping and so on. Then, the force situation, jumping angle, jumping height and jumping distance of the robot are analyzed when it is moving and jumping. Finally, an experimental prototype is made and wheeled movement, wheeled obstacle climbing and robot jumping experiment are carried out. The experimental results show that the robot has the advantage of simple structure, easy control, strong obstacle climbing ability and strong application prospect.