Thermodynamic modeling and motion simulation of pneumatic wheeled jumping robot

To improve the jumping performance and reduce the modeling complexity, a pneumatic wheeled typed jumping robot is designed, the takeoff angle of which can be adjusted while it starts jumping. The double-acting cylinder with the power source of liquid carbon dioxide is used as jumping mechanism. The changes of the precise equations of the internal pressure in the cylinders are established and a cylinder hopping model is built. The jumping simulation and the movement of process of the cylinder are performed. Results show that the actual characteristics of movement of the cylinder agree with the simulation ones.