Design And Locomotion Analyse On The Locust-Like Quadruped Jumping Robot

The design of jumping bio-robot is still in the research-period, this research is also beginning in the domestic. Except the ability of jumping over big obstacle, escaping from dangers, the jumping bio-robot can also move flexible and have a strong ability to adapt the landform, so this field is being focused by many researching departments. But, because the research is including bionics, mechanics and control arithmetic, this is a very difficult work. Especially the research of multi-foot jumping bio-robot, the key-technique of jumping mechanism and prototype design is still in the beginning of research.Our work include the locomotion analysis of a quadruped jumping robot and the design of prototype.We first analysis the research situation of the legged jumping bio-robot, classify the legged jumping robot by the theoretical model, and introduce the normal method of solving the dynamic motion problem during jumping.Based on the analysis of the jumping theory of locust, we abstract and simplify the model, establish a quadruped jumping model, analysis the kinematics and dynamics of this model from the energy way, we give out the condition that the model can jump and the expression of height and length during each jump.Based on the theoretical analysis, we designed two robots have different drive, and each model have a simulative experiment in the software ADAMS, get the key data in the course of jumping and loading, and forecast the performance of the two robots'ability of jumping and loading.At last, we analysis the experiment of the two robots, the experiment result confirmed the validity of the designing and theoretical analysis of the robot, and give out the suggestion of the future work.