Simulation of the movement of a 4-legged mobile jumping robot

Perkov Kirill

This article discusses the need to create a mobile jumping inspection robot. The search and analysis of the concepts of existing models of jumping robots is carried out, the advantages and disadvantages of each design are highlighted. Based on the existing solutions, the concept of a jumping four-legged jumping mobile robot is proposed. The initial calculations of the design of this model are carried out. The process of modeling a mobile jumping robot in the Matlab Simulink Simscape simulation environment is considered. The process of the robot's jump and the process of preparing the robot for the jump are considered. The jump piston and combustion were calculated, and a mathematical model of the jump cylinder was created in Matlab Simulink, and its power characteristics were obtained. The behavior of the robot during the flight is also studied. A mathematical model of the vertical leg lift drive is created, and is used in modeling the entire operation. The results of this simulation are presented.

Keywords:mathematical model, mobile robot, 4-legged, Matlab Simulink Simscape, motion simulation, jumping robot, wheeled robot, walking robot