Research On The Posture Adjustment Device Imitating The Air Movement Law Of Frog Hindfoot

Jumping robots have the characteristics of strong explosiveness,quick take-off and landing speed,etc.The jumping robot’s air posture after taking off and off the ground is difficult to control.The above-mentioned motion characteristics can easily cause the robot to be damaged by impact when it landed.On the other hand,it also affects the jumping performance of the jumping robot to achieve continuous jumping.In the biological world,frogs use jumping as their main mode of movement.The frog can land steadily with a good body posture in each jump.At the same time,it can smoothly realize the next continuous jump.This natural phenomenon is of great inspiration to the research and design of jumping robots.This paper studies the problem that it is difficult for jumping robots to adjust and control the attitude in the air.It is planned to use the principle of bionics to design an air attitude adjustment device for jumping robots based on frog air attitude adjustment law.In this paper,a high-speed infrared camera is used to fully capture the actual jumping process of the frog,and obtain the three-dimensional movement posture information of the frog’s body and limbs in the air jumping phase.Through data processing and analysis,the movement mechanism of the frog using its hind legs to adjust the air posture is proposed.At the same time,the paper verifies the frog’s air attitude adjustment mechanism by simulating the actual jumping motion process of the frog.After obtaining the frog’s air attitude adjustment mechanism,this paper designs a frog-like hindfoot air attitude adjustment device based on the frog’s attitude adjustment mechanism.In this paper,combining the mechanism of the frog’s air attitude adjustment and the structural characteristics of the frog-like hindfoot air attitude adjustment device,a dynamic model of the attitude adjustment device is established.Then,this paper also carried out dynamic simulation of the attitude adjustment device to verify the ability of the device to adjust the attitude.Finally,this paper also designed the basic motion control module for the froglike hindfoot air attitude adjustment device,processed and assembled the frog-like hindfoot air posture adjustment device.Combined with the actual prototype,the actual attitude adjustment test was carried out,and the attitude adjustment function and effect of the frog-like hindfoot air attitude adjustment device were verified.The research results in this paper proved the feasibility of the frog-like hindfoot air posture adjustment device for the jumping robot’s posture adjustment,and provided a new direction for the subsequent research and design of the jumping robot air posture adjustment device.It has certain research value and application value.