Abstract
One degree-of-freedom (DOF) jumping leg has the advantages of simple control and high stiffness, and it has been widely used in bioinspired jumping robots. Compared with four-bar jumping leg, six-bar jumping leg mechanism can make the robot achieve more abundant motion rules. However, the differences among different configurations have not been analyzed, and the choice of configurations lacks basis. In this study, five Watt-type six-bar jumping leg mechanisms were selected as research objects according to the different selection of equivalent tibia, femur and trunk link, and a method for determining the dimension of the jumping leg was proposed based on the movement law of jumping leg of locust in take-off phase. On this basis, kinematics indices (sensitivity of take-off direction angle and trunk attitude angle), dynamics indices (velocity loss, acceleration fluctuation, and mean and variance of total inertial moment) and structure index (distribution of center of mass) were established, and the differences of different configurations were compared and analyzed in detail. Finally, according to the principal component analysis method, the optimal selection method for different configurations was proposed. This study provides a reference for the design of one DOF bioinspired mechanism.
Highlights
Micro jumping robot has the characteristics of short take-off time and high acceleration, and how to make the jumping robot have the advantages of good controllability and high stiffness is one of the focuses of current research.[1,2]
One DOF six-bar mechanism has the advantages of various configurations and abundant motion laws, and has broad application prospects in bioinspired mechanisms
In order to solve the optimal selection problem of six-bar mechanisms with different configurations, a method of modeling, evaluation and optimal selection for bionic six-bar jumping legs was proposed in this study
Summary
Micro jumping robot has the characteristics of short take-off time and high acceleration, and how to make the jumping robot have the advantages of good controllability and high stiffness is one of the focuses of current research.[1,2] The reason why high stiffness is desirable is that the jumping leg mechanism will collide with the ground when landing, and the higher the stiffness of the jumping leg, the stronger the ability of the jumping leg to resist elastic deformation. The take-off direction angle C5 of the configuration 5 can be obtained according to equation (13), which is related to the link length li-5 of the jumping leg, the stiffness coefficient K5 of the driving spring and the initial coordinate of the center of mass of the trunk (X(OC-5)[0], Y(OC-5)[0]).
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