Study On Mechanism Parameters Optimization Of Bionic Frog Jumping Robot

Bionic jumping robots have great movement flexibility and terrain suitability. As a hot topic in robot research, they have widespread application prospect in fields such as military reconnaissance, interstellar exploration, emergency and disaster relief, archaeological exploration. Taking the rigid model of the bionic frog jumping robot as the research object, the optimization of the robot mechanism parameters is studied from the point of view of the inertia isotropy, velocity transmissibility and acceleration performance of the robot.The mechanism model for the bionic frog jumping robot was established on the basis of the body structure and jumping characteristic analysis of the frog. The moving posture and kinematic equations of the center of mass of the robot during jumping process and flight phase were given. The velocity directional manipulability was used to measure the velocity transmissibility of the task direction and the effect of the mechanism parameters on the manipulability ellipsoid and velocity directional manipulability was analyzed. Taking the velocity directional manipulability as the objective function to optimize the mechanism parameters, the velocity transmissibility of the robot is improved.The effect of the mechanism parameters on the generalized inertia ellipsoid and the generalized moment of inertia was analyzed through the relations between the generalized inertia and the nonlinear force. The nonlinearity effect is reduced and the dynamic performance is improved, by taking improving the inertia isotropy of the robot during the movement as the goal to optimize the mechanism parameters.The dynamic directional manipulability of the bionic frog jumping robot was given based on the dynamics, and the effect of the mechanism parameters on the dynamic manipulability ellipsoid and the dynamic directional manipulability was analyzed. Taking the dynamic directional manipulability as the objective function and taking the dynamic directional manipulability and the velocity directional manipulability as the objective functions synthetically, the mechanism parameters are optimized respectively, and the velocity transmissibility and the acceleration performance of the robot are improved.Taking comprehensive performance indices as the objective function and taking the improvement of the inertia isotropy, velocity transmissibility and acceleration performance into account simultaneously, the mechanism parameters of the robot are optimized and the excessive joint torque amplitude problem caused by the improvement of the acceleration performance is solved. The mechanism parameters optimization of the bionic frog jumping robot in this dissertation is benefit to the improvement of the control performance and movement ability. The validity of the optimization is verified by example calculations. The presented methods have certain reference value to the robot design and motion planning in theory and application.