Design, Optimization, and Experiment on a Bioinspired Jumping Robot with a Six-Bar Leg Mechanism Based on Jumping Stability

Joint Authors

Zhang, Ziqiang
Zhao, Jing
Chang, Bin
Yang, Qi
Liu, Xingkun

Source

Mathematical Problems in Engineering

Issue

Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-23, 23 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2020-01-04

Country of Publication

Egypt

No. of Pages

23

Main Subjects

Civil Engineering

Abstract 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.

American Psychological Association (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

Modern Language Association (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

American Medical Association (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

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1194445