Optimal design of the jumping robot based on velocity directional manipulability and dynamic directional manipulability

Abstract

Taking velocity directional measure and dynamic directional measure as the jumping performance evaluation indexes, the improvement of jumping performance of the jumping robot is pursued in the point view of mechanism design. On the basis of the jumping robot mechanism model, the kinematic and dynamic equations in take-off phase are established, and the velocity mapping relationship from the joint space to the centroid movement space and the acceleration mapping relationship from the joint driving torque space to the centroid acceleration space are obtained. In order to improve the robotspi0215es jumping performance, velocity directional measure and dynamic directional measure combining with the optimal algorithm are used to optimize the mechanism parameters of the jumping robot. Through the calculation of example, the optimal results show that the study on the mechanism parameters optimal design of the jumping robot is feasible by introducing the theory of velocity directional measure and dynamic directional measure. © Springer-Verlag Berlin Heidelberg 2013.