Research On The Design And Trajectory Planning Of Frog-inspired Hopping Robot By Pneumatic Muscle

Frog-inspired hopping robot has the characters of strong obstacle-overleaping ability and environment adaptability. Thus the research on frog-inspired hopping robot is becoming more and more popular. In this paper, the previous generation of frog-inspired hopping robot legs mechanism has been improved and optimized. Based on this, the design of the frog-inspired hopping robot forelimb and the whole robot has been finished. The kinematics and dynamics analysis of the robot has been finished, as well as the trajectory planning of its joint movements. Through the computer simulation experiment and physical prototype experiment, the kinematics and dynamics analysis of the robot has been validated.The first I need to complete is to improve and optimize the hind legs of the second generation of frog-inspired hopping robot. Also,I need to finish the design of he frog-inspired hopping robot forelimb and the whole robot. The Mckihben Muscles of the ankle of the second-generation robot should be replaced to a larger one to satisfy the torque that the ankle joint needs. The Mckihben Muscles are still chosen as drives to finish the design of the forelimb of the f rog-inspired hopping robot. Configure the relative position of the hind legs and forelimbs, and then finished design of the whole machine.In the robot kinematics and dynamics analysis, the movement of the robot is divided into three phases: the ground phase, the flight phase and the landing phase. The forward kinematics and backward kinematics of the three phases should be solved respectively. In the analysis of dynamics, the second Lagrange method can be used to solve them and to establish kinetics. By solving the inverse dynamics problem, the desired torque of each joint of the robot can be determined in a given movement.Use genetic algorithm to finish the trajectory planning of the robot joints in joint space. The simulation experiment of the frog-inspired hopping robot can be solved by using ADAMS software. In ADAMS, spring-damper system has been used to simulate the output characteristics of Mckihben Muscles. Through the simulation experiment, both of the correctness of kinetic equations and the feasibility of the design of the whole robot can be verified.In this paper, an experimental platform for frog-inspired hopping robot has been set up. The platform has been used to finish the experiment of the physical prototype robot. The experiment of the physical prototype robot verified the feasibility of frog-inspired hopping robot design. By comparing the experimental results of the physical prototype robot and the result of trajectory planning, the correctness of trajectory planning has been verifyied.