Moreover, it has been also discovered that control of very complex manoeuvres can be achieved with a few only controlled inertial morphing actions (two and three morphings correspondingly for 180° and 90° inversions). 90° and 180° inversions, de-tumbling and controlled agility acrobatic manoeuvrings). It has been discovered and demonstrated via versatile numerical simulations that IM can be used to enable spacecraft with wide range of attitude control capabilities (e.g. Utilisation of the concept, therefore, enables reduction of the weight and dimensions of the conventional systems. The “inertial morphing” control concept is essentially based on the realisation that the spinning spacecraft can be seen and utilised as gyroscope itself, instead of utilisation of complex, heavy and energy-consuming gyroscopic devices on-board. It involves deliberate changes of the inertial properties of the system for control of the attitude of the spacecraft. This book chapter presents a systematic overview of the novel concept of “inertial morphing (IM)”, first introduced by the authors in 2017 and further expanded in their following publications. The simulation results in this paper can be applied to the optimal design of robot prototypes and provide a theoretical basis for subsequent research.
Moreover, the simulation experiment verifies that the application of the intermediate axis theorem helps to absorb more energy and adjust the landing attitude of the robot. Through the landing simulation, the factors affecting the landing energy absorption are identified. Because this jumping robot lacks landing buffer, this paper verifies a method of absorbing landing kinetic energy to improve landing stability and storing it as the energy for the next jump in the simulation. In particular, the jumping of the robot was simulated and the landing buffer of the robot was analyzed. This paper presents a work modelling and simulating a three-legged jumping robot, which has a powerful force, high leaping performance, and good flexibility. The jumping robot has become a hot spot in this field. In recent years, the research of planetary exploration robots has become an active field.
0 kommentar(er)
