Design of Locust-inspired Eight-bar Jumping Robot Based on Take-off Stability

doi:10.3901/JME.2023.05.041

Abstract

Abstract: A locust-inspired eight-bar jumping robot design method is proposed in order to mimic the straight-line trajectory of the tarsus end of locusts’ hindleg during take-off and jumping stability. The dimensional parameters are optimized based on beetle antennae search algorithm (BAS) and established kinematic model. The trajectory of the equal tarsus end of the optimized eight-bar jumping mechanism is very similar to the one of locusts, close to a straight line. The dynamic model of eight-bar jumping mechanism is established using lagrange equation, and the influence of the centroid location of equivalent body bar on the take-off performance is analyzed. It is found that increasing the mass of the equivalent tarsus bar is helpful to obtain better dynamic stability during take-off. Based on the results of kinematic and dynamic analysis result, a locust-inspired eight-bar jumping robot is designed and fabricated, and the high-speed camera is used to build an experimental platform to record its take-off process. It is verified that the mass of the equivalent tarsus bar has an effective adjustment effect on the dynamic stability of the take-off.

Key words: locust-inspired, straight-line trajectory, take-off stability, eight-bar jumping mechanism, Lagrange equation

CLC Number:

TP242

MO Xiaojuan, GE Wenjie, REN Yifei, ZHAO Donglai, WEI Dunwen. Design of Locust-inspired Eight-bar Jumping Robot Based on Take-off Stability[J]. Journal of Mechanical Engineering, 2023, 59(5): 41-52.

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