Design, Optimization, and Experiment on a Bioinspired Jumping Robot with a Six-Bar Leg Mechanism Based on Jumping Stability
المؤلفون المشاركون
Zhang, Ziqiang
Zhao, Jing
Chang, Bin
Yang, Qi
Liu, Xingkun
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-23، 23ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2020-01-04
دولة النشر
مصر
عدد الصفحات
23
التخصصات الرئيسية
الملخص EN
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.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Zhang, Ziqiang& Chang, Bin& Zhao, Jing& Yang, Qi& Liu, Xingkun. 2020. Design, Optimization, and Experiment on a Bioinspired Jumping Robot with a Six-Bar Leg Mechanism Based on Jumping Stability. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-23.
https://search.emarefa.net/detail/BIM-1194445
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Zhang, Ziqiang…[et al.]. Design, Optimization, and Experiment on a Bioinspired Jumping Robot with a Six-Bar Leg Mechanism Based on Jumping Stability. Mathematical Problems in Engineering No. 2020 (2020), pp.1-23.
https://search.emarefa.net/detail/BIM-1194445
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Zhang, Ziqiang& Chang, Bin& Zhao, Jing& Yang, Qi& Liu, Xingkun. Design, Optimization, and Experiment on a Bioinspired Jumping Robot with a Six-Bar Leg Mechanism Based on Jumping Stability. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-23.
https://search.emarefa.net/detail/BIM-1194445
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1194445
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر