Optimum Design Of Leg Mechanism Of Bionic Grasshopper Robot

The hopping robot with insects as bionic objects has the characteristics of small size,light weight,delicate structure and powerful jumping performance,and has broad prospects for development in complex,extreme and special working environment.Grasshoppers are "jumping experts" in insect field.The maximum jumping distance of grasshoppers can reach 10 to 30 times their body length.Based on the research of grasshoppers' bionic prototype,the mechanism model of grasshopper-like robot is established,and the kinematics and dynamics analysis and Simulation of the model are carried out to provide theory for the establishment of the experimental prototype of grasshopper-like robot.Basics.In this paper,the hopping motion of biological grasshoppers is studied and the size of grasshopper body structure is extracted through experiments.The mechanism model of grasshopper-like hopping robot is established.On the premise of meeting the functional objectives,the model of planar four-bar linkage with one leg is simplified appropriately.Based on the established mechanism model,the D-H coordinate system is established.The takeoff stage of grasshopper-like robot is analyzed from both forward and inverse kinematics.The relationship between the position and posture change of each joint relative to the center of mass and the joint angle change is obtained.The speed transfer performance of grasshopper take-off under different configurations was measured by the maneuverability of speed direction.On the basis of kinematics analysis,according to the second kind of Lagrangian dynamic equation,a dynamic model is established to analyze the take-off stage of grasshopper-like jumping robot,and the variation law of driving moment of each joint is obtained.The optimization model is established by dynamic equilibrium normal equation,and the mechanism parameters of the robot are optimized.Finally,the ADAMS software is used to simulate and analyze the established mechanism model,and the curves of displacement,velocity,acceleration and torque of each joint and center of mass are obtained.Compared with the results of kinematics and dynamics,the feasibility of the model is verified.