Kinematics Analysis Of Bionic Frog Jumping Robot

With the advantage of high flexibility and ability to adapt to different terrain, bionic frog jumping robot has broad application prospects in the interstellar adventure, archaeological exploration, transports and counter-terrorism activities. Especially in the military, the jumping robot can be used as a precision strike guidance and reconnaissance. Therefore, bionic frog jumping robots are concerned by national research institutions in recent years. There are important theoretical and practical significance for future bionic robots development.Based on the frog model, frog jumping robot kinematics analyze the relationships of joints angles and centre of mass posture in the jump process, providing a theoretical basis for design and control of frog jumping robot, which is a indispensable part of the frog hopping robot research.(1) Combined with shape of a frog, jumping law, previous experimental data, the features of the frog jumping movement are researched and the jump process would be analyzed in the paper. According with its jumping law, a four-bar linkage string mechanism was presented. And in order to verify the accuracy of the jump mechanism structure, mechanical analysis of the machinery sector was done.(2) A mechanism model and a kinematics analysis method for intermittently jumping robot were proposed. Based on the symmetry of frog, a simple planar model was presented. With the analysis of the kinematics during the jumping process, and its direct and inverse kinematics were studied, the relationship of each joint angle was achieved, and the results of the analysis coincide with the jump law of biologic experiment of frog. The robot’s kinematics was calculated, which demonstrates the feasibility of this jumping model and validity of the research method.(3) According with the results of kinematics,3D model of the bionic frog jumping robot was presented in Pro/E, and its simulation results verify the correctness of the kinetic theory analysis.