Analysis and comparison of three leg models for bionic locust robot based on landing buffering performance

作者：Zhang ZiQiang; Chen DianSheng^*; Chen KeWei

来源：Science China Technological Sciences, 2016, 59(9): 1413-1427.

DOI：10.1007/s11431-016-6100-8

• bionic locust robot
• leg model
• buffering performance
• parameter optimization
• comparison study

Good landing buffering performance can reduce impact and vibration for the bionic locust jumping robot; thus, a landing buffer is important in evaluating the motion performance of the bionic locust robot. In particular, the legs of the robot are the main structures that realize the buffer; thus, its structure affects buffering performance. Three typical leg structure models are established based on the physiological analysis of the locust leg and research status, namely, bionic leg, multi-constraint leg, and arc legs. Kinematic and force analyses are conducted for these types of legs. Particularly, flexible deformation of leg link is considered in the analysis to describe the movement process accurately. In order to compare the buffering performance of these types of legs quantitatively, the performance indices with maximum buffering distance, the energy absorption capability, and the mechanical property are presented. Based on the performance indices, the structure parameters are analyzed and optimized. The buffering performance of the three leg structures is compared with the comprehensive performance of different structures in each best state. This study offers a quantitative analysis and comparison for different legs of bionic locust jumping robot based on landing buffering performance. Furthermore, a theoretical basis for future research and engineering applications is established.

• 出版日期2016-9
• 单位北京航空航天大学