| The bounce movement has strong mobility due to its discontinuity,high dynamics and strong obstacle-resistance.It is very suitable for military operations,archaeological research,interstellar exploration,post-disaster search and rescue and other complex areas.In this paper,a locust is used as a biomimetic prototype to establish a structural model of a bioinspired locust jumping robot,and the performance of the bounce movement is studied,which lays a foundation for realizing a high-performance bioinspired locust jumping robot.(1)Based on the physiological structure of the locust and the composition of the jumping legs,the power source structure of the bounce mechanism of the bioinspired locust robot is determined by comparing and analyzing the advantages and disadvantages of several different driving methods,and two generations of bioinspired locust jumping robot are established.The institutional model,through analysis and comparison,determined the final structural solution of the robot.(2)According to the movement characteristics of the locusts in the actual situation,the movement process of bioinspired locust jumping robot is analyzed.The kinematics parameters of the robot are obtained by using D-H method,and the dynamics of the robot was analyzed by using Lagrange method.The relationship of joint moment is obtained,and the judgment basis of the jump-off of the bioinspired locust jumping robot is also given.(3)Based on the ADAMS virtual prototype simulation software,the prototype simulation model of the robot is established.The walking process and the bounce process of the robot are simulated respectively,and the reliability of the body structure of the bioinspired locust jumping robot is verified.At the same time,the influence of different friction coefficients on the walking and jumping motion of the robot is analyzed,which provides a theoretical basis for making the physical prototype of the bioinspired locust jumping robot and selecting the material.(4)The maximum amount of energy storage spring deformation of the bouncing leg is optimized.The reliability domain optimization algorithm is used to optimize the structural parameters of the bouncing leg,which results in a more reasonable structural size and superior bounce performance.The comparison between the performance of the bounce stage and the optimization before the optimization proves the rationality of the optimization.Through the research on the mechanism model,kinematics and dynamics model,motion simulation and optimization of structural parameters of bioinspired locust jumping robot,a reasonable analysis method of robot mechanical structure size and dynamic performance is obtained,which has certain theoretical value and practical significance for the hopping robot. |
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