The Research of Jumps' Implementation Options in Overcoming Ladder Flight by the Jumping Robot

Purpose of reseach. This article is devoted to overcoming ladder flight by the jumping robot when moving up. At the same time it is important to make jumps with such length and height which allows overcoming an obstacle with minimum energy and time spent. So it is necessary to determine an optimal variant of jumps implementation for overcoming ladder flight by two specified criteria.

Methods. Numerical methods of modeling in specially developed program complex are used to study movement of the robot. Hit theory is used to describe device contact interaction with flight's steps. Methods of multimass system dynamics is used for dispersal and flight modeling.

Results. Numerical modeling of device's movement at jumps series on ladder flight is done. Energy and time dependences spent for overcoming flights are received. Optimizing charts are also constructed. These charts allow to group options of jumps series from I to VII zones in the process of removal from optimum zone I. It is also stated that optimal variant is at which one jump is carried out on the greatest possible number of steps irrespectively from number of jumps. It is also stated that there is a jump on one step during the other jumps.

Conclusion. The study results can be applied at the development of jumping robot's movement system. It helps the device to realize overcoming ladder flights optimum from the point of view of spent energy and time.

1. Zhao J., Yan W., Xi N., Mutka M.W., Xiao L. A miniature 25 grams running and jumping robot. Robotics and Automation (ICRA). Proc. IEEE Intern. Conf. Hong Kong, China, 2014, pp. 5115-5120.

2. Lambrecht B. G. A., Horchler A. D., Quinn R. D. A small, insect-inspired robot that runs and jumps. Robotics and Automation (ICRA). Proc. IEEE Intern. Conf., Barcelona, Spain, 2005, pp. 1240-1245.

3. Xu Z., Lü T., Ling F. Trajectory planning of jumping over obstacles for hopping robot. J. of the Brazilian Society of Mechanical Sciences and Engineering, 2008, vol. 30, no. 4, pp. 327-334.

4. Jatsun S.F., Vorochaeva L.Yu., Savin S.I. Issledovanie voprosov upravleniya orientatsiei kolesnogo prygayushchego robota v polete [Study of Orientation Control for a Wheeled Jumping Robot in the Flight Phase of Motion]. Mekhatronika, Avtomatizatsiya, Upravlenie = Mechatronics, automation, control, 2019, no.4, pp. 236-243 (In Russ.).

5. Vorochaeva L., Savin S. Study of the Acceleration Modes of a Jumping Robot for Two Cases of Realisation. Dynamics of Systems, Mechanisms and Machines (Dynamics): Proc. IEEE Conf. Omsk, Russia, 2018, pp. 16.

6. Vorochaeva L.Yu., Malchikov A.V., Savin S.I. Opredelenie diapazonov dopustimykh znachenii geometricheskikh parametrov kolesnogo prygayushchego robota [Ranges of admissible values of geometric parameters of a wheeled jumping robot]. Izvestiya Yugo-Zapadnogo gosudarstvennogo universiteta = Proceedings of the Southwest State University, 2018, vol. 22, no. 1(76), pp. 76-84 (In Russ.). https://doi.org/10.21869/2223-1560-2018-22-1-76-84.

7. Anitescu M., Potra F.A. Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems. Nonlinear Dynamics, 1997, vol. 14(3), pp. 231-247.

8. Cottle R.W. Linear complementarity problem. Springer US, 2009, pp. 1873-1878.

9. Avis D., Fukuda K. A pivoting algorithm for convex hulls and vertex enumeration of arrangements and polyhedral. Discrete & Computational Geometry, 1992, vol. 8(3), pp. 295-313.