Achieving Continuous Bouncing Through Resonance-Driven Mechanisms

This paper presents a novel approach to robotic jumping mechanisms utilizing resonance principles to maximize vertical height. We introduce a two-mass system with springs and mass transfer, driven by an oscillating weight to achieve resonance-enhanced jumping performance. Through detailed mathematical modeling and Matlab simulations, we optimize system parameters to maintain the driving frequency near the natural resonance, thereby improving energy efficiency. A phys-ical prototype was constructed to validate the simulation results, with jump heights measured using Tracker image software. Experimental data closely matched simulations at a motor-driving frequency of 22.92 rad/s and a damping ratio of 2, despite minor initial discrepancies. The mechanism demonstrates consistent and effective jumping performance, outperforming traditional spring-based and pneumatic actuators. We discuss future enhancements, including adjustable spring constants and revised linkage systems, to adapt to diverse environments and achieve higher driving frequencies. This research contributes to the field of mobile robotics by offering a versatile solution for obstacle traversal and enhanced mobility in challenging terrains, with potential applications in search and rescue, military operations, and industrial scenarios.