Bionic Research On Kinematics And Dynamics Of Frog Jumping

With development of time, human beings have higher level of requirement for exploration about unknown environment as well as for working ability of robots under extreme environment. The requirement for robot to move under complicated environment is the first to be affected. When confronting with tall barriers in exploration process, jumping robot has great advantages compared with other robots. The thesis combines bionics with robotology to establish bionic frog jumping robot model with application of flexible foot design and then establish dynamic and kinematic equations and verify them by simulation.The dissertation applies flexibility of frog's feet in jumping robot through research on prototype of frog based on materials about frog prototype and jump home and abroad with application of the concept of bionic. The thesis adopts flexible curved beam to simulate frog flexible robot model with the purpose to imitate jumping feature of frog, improve jumping ability of robot, reduce joint torque, thus reducing energy consumption.The dissertation analyzes overall jumping process of six-bar mechanism to frog jumping robot. The jumping process of robot is divided into ground stage, soaring stage and landing stage; analyzing models are respectively established targeting at three stages for direct kinematics and inverse kinematics analysis; the centroid speed of each component of robot can be gained through solving speed jacobian matrix of robot, laying basis for successive dynamics solution. Combined with practical cases, the thesis adopts Maple for numerical calculation to verify correctness of theoretical analysis of kinemics.The dissertation considers dynamic model which simulates overall jumping process of frog with flexible feet. Flexible curved beam is adopted to simulate flexible feet of robots and the Lagrange Equation is employed to make dynamic analysis in three stages over robots, thus concluding size of each joint torque of robots under the circumstance with known robot joint rotation angle changes.ADAMS is used to establish bionic frog jumping robot model to make simulation over overall process of jumping. Simulation result concluded from ADAMS is compared with theoretical analysis results concluded with Maple to verify accuracy and reliability of kinematic and dynamic equations of bionic frog jumping robot with flexible feet.