Structural Optimization And Kinematics Simulation In Take-off Stage Of Locust-Like Jumping Robots

Bionic robots are an important topic in the field of robotics research.The locomotion of biomimetic jumping owns the feature of reasonable biological structure,excellent ability on movement territory,high adaptability of environment,and avoiding risk agilely.Broad application prospect and huge research need exist in exploring unknown environment,field reconnaissance and interstellar exploration.Locust is the representative of hopping insects,which has the advantages of long jumping distance and excellent ability to cross obstacles.Therefore,in order to make an in-depth analysis of bionic locust robot,this paper takes the locust as research subject.(1)The biological model and motion mechanism of locust are studied,and a bionic locust jumping robot is designed.On the basis of previous biological research and the motion mechanism of locusts,the bar model of locusts jumping is obtained.Based on that,a bionic locust jumping robot is designed.The original data of theoretical analysis is obtained by analyzing the previous biological experimental data.(2)In terms of the different stages of hopping robot,the corresponding part of kinematic characteristics are analyzed.For the preparation stage,the influence of the adjustment of the front leg joint on the ankle joint and body angle is explored and analyzed.The angle relationship between the joint angles of front leg and that is obtained.For the take-off stage,this study offers a analysis about the forward kinematics and inverse kinematics of the take-off model.And the mathematical relationship between the motion characteristics of the robot's center of mass and the jumping angle is obtained by using the original data of theoretical analysis.The forward kinematics of the robot is researched and the movement space of limb is established.(3)The paper takes the single variable method as support and makes an in-depth analysis of the different take-off angles of the center of mass and the different concavity and convexity of the trajectory of the center of mass.The mathematical relationship between the two and the bounce angle is obtained respectively.The paper makes an analysis of optimization of the size of the jumping leg based on the analysis of the manipulability and the genetic algorithm.By way of this,the size data of the jumping leg with better transmission performance is obtained.The topology optimization is used to lighten the bionic locust jumping robot and the mass of the robot is reduced by 30 g.(4)The simulation experiment is carried out in the software Adams.The motion characteristics of each joint and the center of mass in the take-off process are obtained.Compared with the calculation results of MATLAB,the error causes are analyzed,and the feasibility of the model is verified.In this paper,a mechanism model is proposed.A deep research has been taken in kinematics.A feasible design scheme of bouncing robot is obtained.The exploration of its motion characteristics is helpful to the control of the motion trajectory in the later stage,and has a certain reference significance for the future research of bouncing robot.