Mechanism Parameters Optimization of Jumping Robot Based on Dynamic Directional Manipulability

Qi Yang; Sheng Hai Hu; Jian Jun Yao

doi:10.4028/www.scientific.net/AMR.490-495.961

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 490-495Mechanism Parameters Optimization of Jumping Robot...

Mechanism Parameters Optimization of Jumping Robot Based on Dynamic Directional Manipulability

Abstract:

The concept of dynamic directional manipulability is taken as an evaluating index of jumping performance to quest for improvement of the jumping performance of the jumping robot in view of the mechanism design. On the basis of the jumping robot mechanism model, the dynamics equation in takeoff phase is established, and the mapping relation from the joint driving torque to the acceleration of the center of mass movement is obtained. In order to optimize the jumping performance of the robot, optimal algorithm combining with the dynamic directional measure is used to optimize the mechanism parameters of the jumping robot. The optimal result demonstrates that the research on mechanism parameters optimization of jumping robot is feasible by using the theory of the dynamic directional manipulability measure

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Periodical:

Advanced Materials Research (Volumes 490-495)

Pages:

961-968

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.490-495.961

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Online since:

March 2012

Authors:

Qi Yang, Sheng Hai Hu, Jian Jun Yao

Keywords:

Dynamic Directional Manipulability, Jumping Performance, Jumping Robot, Mechanism Parameters Optimization

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