Analysis Of Erthesina Fullo's Locomotion Mechanics And Computer Simulation

Using experiment method to do research on stability and ground reaction force of insect locomotion is the key to study the biomechanics of insect locomotion and provide reference to robot design. Otherwise, building mechanical simulation model could analyze kinematics and dynamics parameters. It also is an important way of biomemetic robot research.Erthesina fullo's locomotion mechanics was researched from stability, ground reaction force and model simulation. Firstly, body and joint structure were observed clearly, the on-body coordination system of Erthesina fullo was built. The location of center of gravity was got by hanging line method. The location change of center of gravity was analyzed in Erthesina fullo's locomotion, and the center of gravity is always in the three leg support area. Secondly, the ground reaction force was measured. the hind leg only accelerates the body, the middle leg decelerates and then accelerates the body during a step, but the front leg decelerates or accelerates the body during different steps, the mechanical-locking phenomenon of Erthesina fullo's foot was found in experiment first time. Thirdly, the joint point of femur and tibia was calculated from indeterminate equations, in addition, based on the Erthesina fullo's structure, 3-D model of Erthesina fullo was built in ADAMS/view. Then four analysis models were built according to kinematics and dynamics simulation. Finally, four type of simulation were made: kinematics simulation with idealized motion, kinematics simulation with joint motion, dynamics simulation with foot-ground contact and six-leg locomotion simulation with one step cycle. The abstract degree of these four simulations is descending. The ground force resulted from the simulation is in good agreement with the experiments. In six-leg locomotion simulation, mechanical collision and motion functions design were analyzed.