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Volume 42 Issue 5
May  2016
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Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(5): 984-991.
LUAN Yunguang, WANG Huaming, ZHAO Dongbiao, et al. Hopping ability of gas fuel powered hopping robot on different grounds[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(5): 984-991. doi: 10.13700/j.bh.1001-5965.2015.0365(in Chinese)
Citation: LUAN Yunguang, WANG Huaming, ZHAO Dongbiao, et al. Hopping ability of gas fuel powered hopping robot on different grounds[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(5): 984-991. doi: 10.13700/j.bh.1001-5965.2015.0365(in Chinese)
shu

Hopping ability of gas fuel powered hopping robot on different grounds

doi: 10.13700/j.bh.1001-5965.2015.0365
  • 1.

    College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

  • 2. State Key Laboratory of Fluid Power Transmission and Control, Hangzhou 310027, China

  • Received Date: 03 Jun 2015
  • Publish Date: 20 May 2016
    Abstract
  • Gas fuel powered hopping robot has great traverse obstacle ability, but its performance is affected by ground mechanical properties greatly. For exploring ground influence on the hopping robot performance, the dynamic model of the robot is analyzed by theory and experiments during take-off process. Firstly, hopping robot taking off dynamic model is set up and the reaction force between ground and robot foot is analyzed according to the Hunt-Crossley contact model. Secondly, the test platform is set up to test the static and dynamic contact model relative parameters on hard clay soil and grass soil. Finally, the hopping mechanism test experiments on rigid ground, hard clay ground and grass ground are conducted and analyzed respectively. When 0.01 MPa propane and 0.21 MPa nitrous oxide are injected in hopping actuator, 3.55 kg hopping mechanism can hop 2.0 m and 1.4 m on rigid ground and hard clay ground respectively, while the pressures of the chamber are basically the same. The maximum pressure inside the chamber is about 3.1 MPa. On the grass ground, the hopping height is 0.1 m when 0 MPa gas source is filled in the chamber. The result shows that robot hops lower on soft ground than rigid ground and experiments fit well with the analysis results on the three grounds.

     

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