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跳跃机器人具有高效的越障能力和广阔的应用前景,正在形成新的热点研究方向。以汽缸为弹跳主体,采用可燃性混合气体,热火头为点火装置,辅以电磁阀等元件,设计了一种高性能的燃爆式弹跳驱动器。对其工作原理进行了分析,驱动器利用气体爆炸产生的冲力反推地面实现跳跃,在此基础上完成了机械结构的设计。然后就负载对弹跳高度的影响进行了理论分析和试验验证。试验证明:该弹跳机构弹跳高度可达5.1 m,具有较强的带负载能力,带3 kg的负载弹跳高度可达2.02 m,具有良好的弹跳性能和较高的能量利用率。
Jumping robots with efficient obstacle clearance capability and broad application prospects are forming a new hot research direction. In order to bounce the cylinder as the main body, using combustible gas mixture, the hot head for the ignition device, supplemented by solenoid valves and other components, designed a high-performance blast explosive bounce driver. The working principle is analyzed. The driver uses the momentum generated by gas explosion to push back the ground to jump, and on this basis, the mechanical structure design is completed. Then, the theoretical analysis and experimental verification of the impact of the load on the bouncing height were carried out. The experimental results show that the bouncing mechanism can achieve a bouncing height of up to 5.1 m with a strong load carrying capacity and a bounce height of up to 2.02 m with a load of 3 kg, with good bouncing performance and high energy utilization.