简单单腿弹跳机器人的尺度效应仿真

微小型弹跳机器人和其他大型机器人相比，有着自己独特的性能，有很大的科研意义和应用价值。提出一种新颖的设计思路，着手对现有弹跳机器人（包括大型机器人）的抽象、分析和仿真，研究机器人的尺度效应对弹跳高度的影响，得到机器人尺寸变化和弹跳初速、弹跳高度、落地时间、落地速度等弹跳性能之间的关系，并讨论弹跳机器人模型是否可以微小化问题，以便对复杂弹跳机器人的微型化和效率的提高提供思路和改进方案。

A Simulation of Scale Effects in a Simple One Leg Hopping Robot

Hopping microrobot has many preferable properties compared to large-scale hopping robots, and are important both as a research topic and in applications. In this paper we give an in-depth analysis of the scaling effect of the spring force based hopping robot, using model abstraction, analytical analysis and numerical simulation. Particularly, the scaling effect in jumping height and the mathematical relations between the size of the robot and various other parameters are analyzed, where the parameters include take-off velocity, hopping height, flight duration, landing velocity. The analysis is based on a mass-damping-spring model. Despite of the simple model, the results of the analysis provide a generic guideline of miniaturization in performance and efficiency of the spring based locomotion method.