The Structure Optimization And Kinematics’ Synthesis Of A Bionic Frog Jumping Robot

With the development of human exploration of the earth, more and more task is carried out under unstructured environments. The bionic robot which can replace human beings to complete the exploration tasks in bad condition is gradually becoming the focus of the development of the robot. Therefore, the development of a bionic robot, which has the large activities range, nice mobile ability, wonderful ability of obstacle crossing and fast response, has an important theoretical significance and a broad application prospect. The frog is selected as the research object in this paper. And the paper presents the research works from three aspects:the mechanism design and simulation, structure optimization design and simulation, performance optimization design and simulation. The objective of this paper is to design a kind of bionic frog jumping robot with the strong ability of obstacle crossing and the very good environmental adaptability. The main contents of this paper are as follows:First, take the frog as the research object. By anglicizing the characteristics of its bone structure and the moving trajectory, the mathematical model is established. In order to obtain the change of the pole piece’s position and angle of the joint, the jumping stage is simulated in the MATLAB software.Secondly, the M type structure based on the linear bearing is put forward to ensure the robot’s stability during jumping or landing stage. The lower leg, ankle and foot of the traditional jumping leg are replaced by a flexible C type leaf spring which can act as a buffer role when the robot landing. And the article puts forward that the compression cycle of jumping leg can be controlled by a cam to realize the robot jumping continuously.Subsequently, the robot’s dynamic simulation is implemented in ADAMS software. The simulation results show that the intermittent jumping height is basically in agreement with the theoretical calculation, which shows that the structure design is reasonable and feasible.Finally, the optimization method of the gear, cam and the robot’s centroid position is proposed in order to solve the problem which the continuous jumping quality is not ideal. After the simulation analysis of the optimized model, the continuous jumping height and the number are obviously improved, which certified the optimization method is effective.The research results show that the structure design of bionic frog jumping robot is correct, and the jumping effect is ideal. This paper provides a theoretical basis for the further research work of bionic jumping robot.