Design And Experiment Of Frog-inspired Biomimetic Variant Robot

In recent years,the bionic robot has always been a hotspot in research of frontier.In order to explore unstructured and unknown dangerous environment,We need to invent mobility and environment adaptable robots instead of human.The frog's outbreaking is so strong that it is easy over obstacles or ditches,and biological characteristics of the amphibious make it better than others in environment adaptability.Therefore,Based on the research of the excellent amphibian exercise capacity of frog,a kind of frog-inspired biomimetic variant robot scheme which can transform jumping mode on land to breaststroke mode in water is put forward.First of all,effective schemes including jumping mechanism,trigger mechanism,reset mechanism and transformation mechanism suitable for variant robot is designed with kinematic analysis and simulation which makes the whole scheme has good feasibility.Subsequently,we build parts entity model,using virtual assembly to continue to improve the design and optimization.On kinematics equation of jumping actuator,mechanism simulation program is written on MATLAB based on the kinematical equation to verify the consistency of Simulation results with law of motion in practice.Centroid trajectory is measured and it fits with the parabolic trajectorywith of frog in actual situation,verifying the rationality of design on frog-inspired biomimetic variant robot.Then,in the ANSYS in the imitation of the frog variant an important part of a mobile robot has carried on the finite element analysis to get the optical axis of the displacement,stress and strain distribution of the cloud.To carry out modal analysis to avoid robot flexible feet natural frequency close to the robot working frequency caused resonance,in reducing the impact at the same time,it can also save energy for the next movement cycle.Finally,based on the robot jump actuator geometric shapes,internal freedom degree and the relationship connection of legs and robot torso,the robot model is simplified dynamic model of legs,thighs and torso.The kinematics model of the robot and though laser dynamics model is established and simulated.Simulation results prove that the robot centroid trajectory and the change of each joint angle trajectory is consistent with the actual situation of the biological frog movement,but also verified the correctness of the established mathematical model of the robot mechanism.