| dc.description.abstract | In this thesis, based on wheeled- robot, we installed a jumping device on the robot such that the robot can move fast and stably, and jump over obstacle when obstacles exist. The jumping function has improved the mobility of traditional land-based robot. At the structure aspect, we also designed a six-rod spring-hopping mechanism, this mechanism can jump with different heights corresponding to deferent compressions. In addition, we designed a four-link mechanism for the connection between the spring and wheels, such that the spring compression mechanism can interlock wheels to have a nice jumping elevation angle for the robot. We used 3D printer to print out the robot body, because the elastic plastic can absorb the impact when the robot drops to the ground without broken. In control aspect, smart phones or laptop with blue-tooth is used to remote control the robot to execute the commands such as forward, backward, turning and jumping. Utilizing the 10-axis MEMS sensor, the elevation angle, angular velocity change and azimuth of the robot can be measure. When the robot moves direction is incorrect, the orientation can be adjusted autonomously. If the robot moves fast, it may turnover. Therefore, the fuzzy control is used to maintain the stability of the moving attitude. When the robot stops suddenly, the robot will turnover definitely, but it can recover its attitude immediately. The experimental results show that the robot has successful moving and jumping functions because of our special design and fabrication. | en_US |