Experimental Research of Locust-like Robot's Jumping Mechanism & 3D Dynamic Simulation of Motion Morphology

• 1、The Key Laboratory of Terrain-machine Bionics Engineering, Ministry of Education, Jilin University
• 2、The Key Laboratory of Terrain-machine Bionics Engineering- Ministry of Education- Jilin University

Abstract： In the nature, the different insects have distinct characteristics of jump, which have the significant bionic inspiration to structural design and gait research of jumping robot in the different situation. The kinetic behavior analysis is a foundation of researching kinematics, dynamics and structural strength of mechanical system. The understanding of kinetic behavior of animals is very helpful to study bionic theories and their applications in machines including terrain machines. The insect used for research is locust, Oedaleus infernalis Saussure. A stereomicroscope was used to observe the geometrical configurations of locust; the high-speed photography was used to capture the jumping process. The factors accounts for the jump ware particularly presented, and then the locust-like jumping robot was modeled. The interaction of the robot’s legs with surroundings was accurately examined through analysis of kinetic mass, acceleration and angular acceleration using the technology of virtual prototype. This work provides the theory foundations of the kinetics, the control of motion and the test of model; it produces an important reference to study the other bionic jumping robots and bionic walking mechanisms. Besides, it achieves the goal of shorting cycle, reducing cost, improving quality and enhancing competition.

Keywords： Robot Jump Locust Motion morphology Virtual prototype