Bionic Research On Grasshopper Jumping Mechanism

Bionic hopping robot that takes jumping movement as the main mode of action, compared with the wheel and mobile robot, it has higher obstacle crossing ability, wider range of motion and easier to avoid danger, saving energy and extending activity space, these irresistible advantages gradully become the focus that scientists to explore the earth and make things convenient for people’s daily life. We selected a representative hopping insect-grosshpper as the object of bionic research,based on leg structure of biology grasshopper, to establish a rod model of grosshopper leg-like hopping robot which can realize sudden and explosiveness and offer a theoretical research method about kinematics,dynamics and energy changing formular of jumping robot, through kinematics, dynamics and analysis of simulation system to reveal its movement feature and jumping mechanism, then to provide theory foundation for the design of physical model of grasshopper-like hopping robot.According to the analysis of biological grasshopper body structure,through the investigation research on grasshopper body and hind leg length, the length ratio relationship of the body and femur,femur and tibia has been determined, it was able to establish a rod model of grosshopper leg-like hopping robot coinciding grasshopper jumping movement law.Based on the estalished rod model, built D-H coordinate to make the forward kinematics analysis of robot model during its take-off and flight phase, it could got pose variation rules of body center and each joint;Through the kinematic analysis of flight phase, this was the advantage with single acting piston pneumatic cylinder, it made the jumping height add a cylinder stroke to original model, the result showed that the correctness of model and feasibility of adding storage device.Using Lagrange function method to make model’s dynamic analysis,it could got the variation equation of the driving moment of each joint on basis of kinematics analysis; Through the energy analysis of take-off phase,the total energy of the robot model was calculated, until the highestpoint, according to the grasshopper posture analysis, the energy loss from take-off position to the highest point was revealed.At last, did simulation experiment of ADAMS virtual prototype,according to the size of body and hind leg from investigation and analysis,the jumping robot plane model was built in ADAMS/View to get the relevant data of body center and each joint, from the curve shape of velocity and acceleration, the rigid lever suffered large attack during simulation, even joining the torsion spring, the impact still existed, so in the future research, we can add buffer device to avoid and decrease this impact would bring instability to system.