Mechanical Design and Dynamics Simulation of Locust-Inspired Straight Line Four-Bar Jumping Mechanism
By the observation and analysis of video took in the take-off phase of locust, it is concluded that hind limb plays an important role in jumping process. The trajectory of the end of tibiae approximately a straight line through the centroid of body, which
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Abstract By the observation and analysis of video took in the take-off phase of locust, it is concluded that hind limb plays an important role in jumping process. The trajectory of the end of tibiae approximately a straight line through the centroid of body, which explains the outstanding jumping performance and high energy utilization rate of locust jumping. The knee joint angle of hind limb changes from 10° to 140° during take-off. We proposed locust-inspired straight line four-bar jumping mechanism actuated by a micro motor, and it mimics trajectory of the end of tibiae, knee joint angle range and ground reaction force very well. Both dynamics simulation results and experimental results show that the designed jumping mechanism mimics the movement of hind limb very well during take-off. Keywords Straight line force
Trajectory Jumping performance Ground reaction
1 Introduction With robotic applications continuing to expand, there are more and more demands for robots that can adapt to non-structural environments. Presently, mobile robots can be divided into wheeled, crawler and multi-legged; all of these robots work very well in different environments, but all these traditional movement modes have X. Mo W. Ge (&) S. Wang D. Zhao School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, China e-mail: [email protected] X. Mo e-mail: [email protected] S. Wang e-mail: [email protected] D. Zhao e-mail: [email protected] © Springer Nature Singapore Pte Ltd. 2017 X. Zhang et al. (eds.), Mechanism and Machine Science, Lecture Notes in Electrical Engineering 408, DOI 10.1007/978-981-10-2875-5_36
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trouble to overcome obstacles that quite larger than their own. At the same time, it can be seen that frogs, kangaroos and locusts use jumping as their main movement modes to overcome big obstacles in nature, which inspires us to mimic movement models of those animals to design jumping robots. To adapt to complex environment, micro robots are more convenient to operate and can get more environmental information through group collaboration. Existing jumping robots can be divided into two kinds, continuous and intermittent. The former are mainly used for theoretical research while hopping robots oriented to practical application are usually intermittent hopping robots [1–4]. As a typical representative animal of intermittent jumping, locusts have moderate size and three kinds of compound movement models including crawling, jumping and flying, which gives us a lot of inspirations, such as developing micro jumping robots, combing jumping with crawling to improve efficiency, combing flying with jumping to solve landing and orientation changing problem. What’s more, locusts have moderate size and longer take-off time comparing to other insects. And locusts widely exist in nature, so it is convenient to obtain and observe [5–7]. There are many scholars that choose locusts as the bionic object of the mobile robot research at home and abroad, and have mad
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