Mathematical simulation of the controlled motion of the five-link wheeled jumping robot

Abstract

The design of a five–link wheeled jumping robot is presented. A sequence of stages, each of which is characterized by certain types of link motion, is proposed as a jumping technique. A mathematical model that describes the jump of the device is developed. The results of the simulation of its motion are given. Modes of acceleration and landing of the robot, as well as features of the devices’ flight behavior that depend on the design and control parameters, are identified.