Dynamic Jump Motion Control of a Jumping Spider Robot with Redundant Degrees of Freedom

摘要

Aiming at the disadvantages of the traditional jumping robot, such as single jumping form and low movement efficiency, a hexapod robot based on jumping spider is constructed, which can realize multi-direction jumping. Firstly, the mechanical structure design of the robot is completed, and then the forward kinematics analysis of the robot is carried out. By combining algebraic and geometric methods, the inverse kinematics model of the legs of the robot with redundant degrees of freedom is established, and the dynamic model is established by Lagrange formula. The dynamic control system was built, and the joint simulation experiment of MATLAB and Adams was finally carried out for the multi-direction jumping movement of the robot. The simulation results are consistent with the expected results.