Abstract:  Aiming at the problem that it is necessary for the jumping robot to choose the appropriate gear ratio according to its task and motion so as to maximize the motor power, a special-shaped gear jumping mechanism with high speed and large torque was proposed. Firstly, a design method of optimal gear ratio based on simulation was proposed to maximize motor power. Secondly, according to the obtained gear transmission ratio, the pitch radius of the gear was calculated by forward dynamics. Then, the tooth profile design of the final special-shaped gear was completed considering the constraint of gear tooth pressure angle. Finally, the variation of jumping height with robot parameters and initial attitude disturbance was also studied. Taking the jumping mechanism as a prototype, the experimental test was carried out considering the disturbance of physical parameters of the mechanism, and the effectiveness of the proposed design method was verified. The research results show that when using special gear, the jumping height of this mechanism is 0.135m; when using circular gear, the jumping height of this mechanism is 0.072m. The jumping height can be increased by 64.6% by using specialshaped gears to change the gear transmission ratio through movement, which provides a better solution for improving the working performance of the jumping robot.

Key words:  jump mechanism; irregular gear; maximize motor power; variable transmission ratio; forward dynamics

LIU Lei, ZHANG Yan. High-performance jumping mechanism of special-shaped gear with variable transmission ratio［J］.Journal of Mechanical & Electrical Engineering, 2021,38(9):1167-1173.