Mechanism Design And Analysis Of A Locust-Like Flapping-Jumping Robot Based On Metamorphic Mechanism

With the continuous expansion of the robot application fields,the demand for mobile robots which used in military reconnaissance,field detection and rescue search is also increasing.The complex and unstructured environment requires the design with features such as small size,strong ability to leap over obstacles,and good performance of ground adaptability.Locust is the insect with flying and jumping motion patterns,which is not only small and light-weight,but also has good mobility.And it can adapt to the unstructured terrain and environment.However,the current research on the worm-like robot is mainly aimed to the single movement mode of jumping or flapping the wing.The single movement mode has the problems like poor athletic performance,weak environmental adaptability and large landing impact.In this paper,taking the double motion modes of locust flight hopping as the object,a robot mechanism based on metamorphic mechanism is designed.The main research results are as follows.(1)In order to study the movement characteristics of the aphid's flight-jumping double-motion mode,a bionic locomotion test platform is designed,and the morphological characteristics,locomotion process and hind leg structure are observed and analyzed.The motion laws and mechanisms of the coupling of legs and wings are revealed.The whole jumping process of locusts is captured by camera,and the take-off model of locusts is established.The effects of different wing lengths and the number of leg burrs on the jumping performance are observed and analyzed,revealing the effects of friction and wing length on the hopping performance of locusts.(2)Based on the movement mechanism of the aphid's legs coupled with its wings,and using the abundant force and locomotion characteristics of the gear-bar mechanism,the jumping mechanism and the flapping-wing mechanism were respectively designed and analyzed.According to the locomotion laws of locust flight jump and the force on the legs during take-off and landing,combined with the principles that the metamorphic mechanism can make the mechanism merge,separate or geometric singularity,the new configuration mechanism is produced.The flying hopping robot mechanism is designed by coupling the flapping wing mechanism with the jump mechanism.The variable cell matrix is established by using the constraint equation,and the metamorphic process of the metamorphic mechanism is analyzed in detail,which lays a foundation for the subsequent kinematics and dynamics simulation.(3)According to the designed robot mechanism model,the virtual prototype simulation model of the flying jump robot is established based on the Solidworks and ADAMS.And the jumping attitude analysis,kinematics and dynamics simulation are carried out.The jumping motion track of the robot,the change of the motion joint angles,the pull force required by energy storage and the change of the contact force between the foot and the ground are obtained.The feasibility of the mechanism movement,the rationality of the motor selection and floor buffer of the designed mechanism are verified.(4)A Principle prototype is made and relevant test verification is carried out.The institutional components is created by 3D printer,and set up a physical Principle prototype and analyzed the improvement process of the designed mechanism.A test scheme is designed.The experiment verifies the feasibility of the movement of the Principle prototype.The leg burr affects the jumping performance and the movement stability of the jumping robot,and the flapping movement greatly improves the jumping performance of the jumping robot.