Design And Research Of Frog-like Jumping Robot

In recent years,the bionic jumping robot has attracted more and more researchers' attention because of its strong obstacle surmounting ability and good maneuverability.It can be applied in many fields,such as space exploration,emergency survey,anti-terrorism investigation,military reconnaissance and archaeological exploration,and has broad application prospects.As a kind of bionic jumping robot,frog jumping robot integrates the jumping movement of natural jumping experts into the design and research of jumping robot.In this paper,the frog in nature is taken as the research object of bionics.On the basis of summarizing its movement mechanism,a simplified frog structure model is proposed,and mechanical design and modeling are carried out,kinematic and dynamic analysis are carried out,as well as virtual prototype simulation analysis.First of all,the physiological and anatomical structure and the characteristics of the movement process of frogs were analyzed,and two important factors influencing the take-off were summarized.Based on the simplified model of frog structure,the mechanical part of frog like jumping robot driven by motor and spring is designed and modeled.The jumping process of frogs can be divided into three stages: ground stage,aerial stage and landing stage.Kinematics analysis is carried out for these three stages,and mathematical modeling is carried out by using D-H coordinate method.Through kinematic analysis,the position and attitude change law of each local coordinate system relative to the reference coordinate system is obtained,and the expression of each joint variable is obtained.In view of the situation that the ground stage consumes the most energy,the dynamic analysis is focused on the ground stage.The second kind of Lagrangian method is used to obtain the potential energy and kinetic energy of each connecting rod in the ground stage.The moment equations of each connecting rod are analyzed and expressed in general form and matrix form.Finally,Adams is used to simulate and analyze the imported model,and the curves of the displacement,velocity and acceleration of the center of mass of each member are obtained.The comparison and simulation analysis are focused on the three factors that can affect the spring deformation when landing,including the spring stiffness coefficient,landing height and spring damping coefficient,which verifies the rationality and feasibility of the design.