Abstract
A jumping leg with one degree of freedom (DOF) is characterized by high rigidity and simple control. However, robots are prone to motion failure because they might tip over during the jumping process due to reduced mechanism flexibility. Mechanism design, configuration optimization, and experimentation were conducted in this study to achieve jumping stability for a bioinspired robot. With locusts as the imitated object, a one-DOF jumping leg mechanism was designed taking Stephenson-type six-bar mechanism as reference, and kinematic and dynamic models were established. The rotation angle of the trunk and the total inertia moment were used as stability criteria, and the sensitivity of different links to the target was analyzed in detail. With high-sensitivity link lengths as the optimization parameters, a configuration optimization method based on the particle swarm optimization algorithm was proposed in consideration of the different constraint conditions of the jumping leg mechanism. Optimization results show that this method can considerably improve optimization efficiency. A prototype of the robot was developed, and the experiment showed that the optimized trunk rotation angle and total inertia moment were within a small range and can thus meet the requirements of jumping stability. This work provides a reference for the design of jumping and legged robots.
Highlights
Bioinspired jumping robots have good environmental adaptability and can overcome obstacles that are several or even ten times larger than themselves. ey have become a hotspot in research on bionic robots [1,2,3,4,5]
E leg mechanism is the key to the design of bioinspired jumping robots, and it is the main structure through which a robot performs takeoff
Bionic series [14] and flexible [15] mechanisms have been applied to the design of the leg mechanism of jumping robots. e former is driven by springs or motors, and the latter stores and releases energy through elastic deformation of materials. e one-degree-offreedom (1DOF) mechanism has been used in the design of the leg mechanism of jumping robots
Summary
Bioinspired jumping robots have good environmental adaptability and can overcome obstacles that are several or even ten times larger than themselves. ey have become a hotspot in research on bionic robots [1,2,3,4,5]. E leg mechanism is the key to the design of bioinspired jumping robots, and it is the main structure through which a robot performs takeoff. Bionic series [14] and flexible [15] mechanisms have been applied to the design of the leg mechanism of jumping robots. The eight-bar mechanism was used as the jumping leg for the jumping robot “Salto” designed by Haldane et al [24]. If a robot achieves stable jumping without increasing the complexity of the structure and has the advantages of high rigidity and simple control, optimizing the one-DOF jumping leg mechanism is feasible. With the Stephenson-type six-bar mechanism as the research object, kinematic and dynamic models were established, and a comprehensive performance optimization method based on mechanism sensitivity was proposed. An experiment was conducted. is study provides a theoretical basis for the stability design of bioinspired legged robots
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