Abstract
According to the high-energy-density movement characteristics of animals during jumping, soft-body cavity-type detonation driver that combines the explosive chemical reaction mechanism of hydrogen and oxygen is designed, in order to control the robot in jump to achieve output optimization. Then, combined with the theoretical values of the detonation dynamic equation and experimental data for the performance parameters, the influences of the mixing ratio of hydrogen (H(2)) and oxygen (O(2)), the volume of mixed hydrogen and oxygen in the cavity, and the shape, wall thickness, and area ratio value of the soft-body cavity on the output performance of the detonation driver are analyzed. When gas volume is 20:10 mL, the jump height reaches 2.5 m. In addition, the upper and lower area ratio of cavity is optimized to 2:1, improving the output performance by 21.6% on average. Therefore, the above research results provide reference for the driver structure design of jumping robot.