Design and Dynamic Analysis of a Linear Single-Pendulum Bouncing System with a Spring-Double-Mass Model

To address the issues of low energy utilization and inadequate bouncing height of the two-wheeled hopping unmanned vehicle, this paper establishes a dynamic model for an electrically driven linear monopole hopping system and designs three stages of motion for the hopping system. The dynamic characteristics of each stage are analyzed using the second-order Lagrange equations. Furthermore, a virtual prototype model of the unmanned vehicle incorporating this mechanism is developed. Finally, the influence of the spring stiffness coefficient in the hopping mechanism on the hopping performance of the unmanned vehicle based on this mechanism is investigated through ADAMS simulation experiments. The simulation results demonstrate that the hopping module based on this mechanism meets the requirements for the use of unmanned vehicles, and as the spring stiffness coefficient increases, the hopping efficiency gradually improves but reaches a plateau. This paper provides insights into the design of linear monopole hopping mechanisms and serves as a design reference for hopping robots utilizing this hopping mechanism.