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Design and kinematics simulation for bionic crank-slider mechanism of jumping robot

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4 Author(s)
Zhao Kai ; Robotic Inst., Beihang Univ., Beijing, China ; Yin Junmao ; Chen Diansheng ; Wang Tianmiao

Jumping locomotion is an ideal means of overcoming obstacles and traversing rough terrain. By taking inspirations from the locust, this paper presents the development and analysis of a novel crank-slider jumping mechanism. Firstly, the locust morphology is described and the posture of hindlimbs at take-off phase is analyzed. Base on that, a crank-slider mechanism is proposed to mimic the locust hindlimb. The mechanical analysis shows that the ground reaction force is similar to that of the locust during take-off stage, which reduce the possibility of premature lift-off and lays the foundation for developing the small jumping robot. Then, the designed robot employs elastic elements in the crank-slider mechanism, which is triggered by the segment-gear system. At last, its jumping performance is verified by kinematic modeling.

Published in:

Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on

Date of Conference:

11-14 Dec. 2012