微小型仿蝗虫机器人设计及其无翻转跳跃运动实现

A small-scale locust-like robot that can realise the jumping motion without flipping is proposed through taking typical jumping insects as bionic objects. By analysing the skeletal muscle model of the locust hind thoracic leg, a miniature bionic saltatorial leg based on Stephenson’s six-bar mechanism is designed. The six-bar parameters are optimized according to kinematics analysis, and the nonlinear problem of the trajectory as well as the limited energy storage are solved. By imitating the motion mechanism of Heitler’s mass and tendon locking to achieve energy latching in the process of accumulating force, the ratchet-pawl mechanism of the bionic jumping leg is designed to realize the energy lock and conversion mechanism. Dynamics analysis is carried out to find out the influence of the rotation angle of the active link on the trend of the robot's impulse moment and velocity fluctuation angle, revealing the jumping motion mechanism of the small-size jumping robot without flipping motion. The experimental verification of the physical prototype is carried out, which shows that when the robot takes off at a given angle of 75 degrees, the robot can achieve high-efficiency jumping without flipping, which maintains a good attitude in the air and the jumping height can reach 5 times the body height.