Design And Analysis Of The Structure Of The Buffer Device Of The Bionic Frog Forelimb Movement Law

With the continuous development of modern robot technology,various mobile robots with different capabilities have emerged.Jumping robots have great application performance due to their unique motion characteristics and strong environmental adaptability.As an important part of the hopping robot,the buffer device can protect the robot from being damaged by the impact generated when landing.However,most robots currently use active control methods or purely passive buffering methods.The structure of the actively controlled buffering device is complicated,which increases the weight of the jumping robot and the cost is relatively high.While the pure passive buffer method has poor adaptability and performance.In order to solve this problem,this paper proposed a new type of buffering method based on the frog's buffering mechanism,designed a buffering device,developed a prototype and conducted experimental verification.Extract the biological movement information of the frog,and design the bionic experiment with reference to the existing bionic experiment method.By using a highspeed camera to capture the jumping movement of the frog,we have obtained the gait of the frog at different stages during the movement.We used the Vicon dynamic capture system to obtain the joint coordinate information of the forelimb.And after analyzing the obtained position information,we obtained the relationship between the angle changes of the forelimbs in the buffering process,and established the calculation formula of the joint angle.In this part,we designed bionic experiments to analyze the landing force of the frog's forelimbs during the landing and buffering stage,obtained the displacement data of the forelimbs during the buffering process and the ground reaction force.And plot the displacement and force curve of the forelimbs during the buffering process.Found that in the beginning of the cushioning process,the forelimb played a role as a spring,and in the latter half of the stage it was a combined action of spring and damping.The forelimb model was established and simulated in Adams software to verify the movement law.The Lagrangian method is used to establish the dynamic equation of the buffer device during the movement process.In this paper,the motion equations of the buffer device in the air phase and after the impact are established and solved.After analyzing the stability of the buffer device,we got the requirements for the buffer device to land safely.The damping empty run mechanism and the key part mechanism are designed,and the three-dimensional model of the entire device is drawn and the prototype is processed.Establish an experimental platform to obtain the spring stiffness used in the buffer device and the damping coefficient value of the damper.An experimental platform was built,and buffering experiments were performed under different conditions to verify the performance of the proposed buffering device.