| The bionic robot based on jumping can have excellent ability to adapt to unstructured terrain,autonomous movement,strong obstacle crossing ability and danger avoidance ability,so the research of bionic robot is the mainstream trend of future development.Bionic robot is designed based on bionic principle and combined with the body structure and motion mechanism of bionic object.This paper takes the grasshopper with excellent jumping performance as the bionic research object,combines the motion mechanism and body structure of the grasshopper with the application research of the robot through the principle of bionics,and designs a grasshopper-like jumping robot with high burst and excellent jumping performance.The study and analysis of its jumping performance and motion stability provide a theoretical basis for making a physical prototype of a grasshopper-like jumping robot.According to the body structure and the composition of the hind foot of the bionic prototype grasshopper,this paper optimizes the hind foot structure,studies the meniscus structure in the knee joint of the hind foot,and puts forward a design scheme for the leg structure of the hopping robot.Based on the leg mechanism of grasshopper hopping robot,the kinematics model and dynamics model of take-off stage are constructed.The forward kinematics and inverse kinematics analysis of the kinematics model are carried out,and the law of posture changes between the joints is obtained.Taking the hip joint as the research object,the expressions of displacement and velocity are numerically calculated by using MATLAB,and the displacement variation law and the maximum take-off speed of the robot in the take-off stage are obtained.Based on the dynamic analysis of the dynamic model,the change law of the joint driving torque in the take-off stage is obtained,and the judgment method of releasing the ground constraint of the hopping robot is given.Through the simulation experiment in ADAMS,the prototype model of hopping robot is constructed,and the whole process of hopping is simulated.The relevant kinematic and dynamic parameters are obtained,which verifies the feasibility of the overall structure design of hopping robot.At the same time,the jumping process under different friction factors is simulated and analyzed.It is found that the friction factor has a certain influence on the jumping process of robot,which provides a basic parameter basis for making the physical prototype of hopping robot and selecting the sole material.Based on the research methods of motion stability of bionic robot at present,the gravity center projection method and zero moment point method are selected to study and analyze the motion stability of the robot.The conditions for the robot to reach a stable state in the landing stage are obtained,and the simulation is verified by MATLAB.Finally,an improved method is proposed for the landing stability of hopping robot,which provides a theoretical basis for further study on the motion stability of hopping robot. |
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