Research On Jumping Principle And Model Of The Locust-Like Robot

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. The design of jumping bio-robot is still in the research-period, this research is also beginning in the domestic. Especially, the key-technique of jumping mechanism, jumping model and prototype design is still in the beginning of research.First systematic analysis of the domestic and international bionic bouncing and hopping robot model. Bionic robots come to the realization of a more functional bionic, little refer to the mechanism bionic. Based on the energy method in the jumping model highly inaccurate in calculation of the jumping height. Design according to the locust campaign mechanism and biological characteristics and use of modal analysis and impulse theorem to compute the jump high.Through analysis of Locust physical structure and mechanism of jumping movement., established a fake locust-like robot bar model. Analysis of its kinematics and dynamic, obtained knee input torque curve which has the locust-like characteristic. Laid the math foundation for robot bouncing incentive. By analysis spring model based on energy-quality, uses double-double quality spring model for take-off stage. Application of modal analysis method and impulse theorem to compute its jumping height. Solved the shortcomings of energy method which decided fillips inaccurately. And compared locust's form of special incentives and the general form of incentive on this model and identify suitable jumping incentive.Based on the theoretical analysis, and according to the locust locomotion mechanism, we designed the locust-like robot and have a simulative experiment in the software ADAMS, get the key data in the course of jumping height and friction. the experiment result confirmed the validity of the computing the height based on the double masses double springs model and designing the robot based on the analysis of the locust.