Bionic Mechanism and Kinematics Analysis of Hopping Robot Inspired by Locust Jumping
Bionic Mechanism and Kinematics Analysis of Hopping Robot Inspired by Locust Jumping
复制标题
受蝗虫跳跃启发的跳跃机器人仿生机构及运动学分析
DOI：
10.1016/s1672-6529(11)60048-6
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发表时间：
2011-12-01
影响因子：
4
通讯作者：
Wang, Tianmiao
中科院分区：
文献类型：
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作者：
Chen, Diansheng;Yin, Junmao;Wang, Tianmiao
受蝗虫跳跃的启发，提出了一种柔性-刚性跳跃机构，并对其运动特性进行了分析。对蝗虫的形态和跳跃过程进行了一系列的实验观察。根据经典力学原理，对蝗虫跳跃过程进行分析，建立蝗虫跳跃参数之间的关系。起飞阶段分为四个阶段。基于蝗虫的生物学观察和运动学分析，建立了蝗虫跳跃的力学模型。分析了柔性-刚性跳跃机构各阶段的受力情况。采用D-H方法建立伪刚体模型进行运动学分析。实验结果表明，该仿生机构具有与蝗虫后肢相似的跳跃性能。此外，对决定跳跃过程的跳跃角进行了讨论，建立了跳跃角与其它参数的关系。算例分析验证了该方法的有效性。结果表明，该仿生机构具有良好的运动学性能，可为跳跃机器人的设计和运动规划提供依据。
A flexible-rigid hopping mechanism which is inspired by the locust jumping was proposed, and its kinematic characteristics were analyzed. A series of experiments were conducted to observe locust morphology and jumping process. According to classic mechanics, the jumping process analysis was conducted to build the relationship of the locust jumping parameters. The take-off phase was divided into four stages in detail. Based on the biological observation and kinematics analysis, a mechanical model was proposed to simulate locust jumping. The forces of the flexible-rigid hopping mechanism at each stage were analyzed. The kinematic analysis using pseudo-rigid-body model was described by D-H method. It is confirmed that the proposed bionic mechanism has the similar performance as the locust hind leg in hopping. Moreover, the jumping angle which decides the jumping process was discussed, and its relation with other parameters was established. A calculation case analysis corroborated the method. The results of this paper show that the proposed bionic mechanism which is inspired by the locust hind limb has an excellent kinematics performance, which can provide a foundation for design and motion planning of the hopping robot.