Dynamic model and performance analysis of landing buffer for bionic locust mechanism

作     者：Dian-Sheng Chen Zi-Qiang Zhang Ke-Wei Chen 

作者机构：Robotic Institute Beihang University 

出 版 物：《Acta Mechanica Sinica》 (力学学报（英文版）)

年 卷 期：2016年第32卷第3期

页      面：551-565页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the National Natural Science Foundation of China (Grant 51375035) the Specialized Research Fund for the Doctoral Program of Higher Education of China (Grant 20121102110021) 

主　　题：Bionic locust mechanism Landing and buffering Dynamic model Buffering performance 

摘      要：The landing buffer is an important problem in the research on bionic locust jumping robots, and the different modes of landing and buffering can affect the dynamic performance of the buffering process significantly. Based on an experimental observation, the different modes of landing and buffering are determined, which include the different numbers of landing legs and different motion modes of legs in the buffering process. Then a bionic locust mechanism is established, and the springs are used to replace the leg muscles to achieve a buffering effect. To reveal the dynamic performance in the buffering process of the bionic locust mechanism, a dynamic model is established with different modes of landing and buffering. In particular, to analyze the buffering process conveniently, an equivalent vibration dynamic model of the bionic locust mechanism is *** the support forces of the ground to the leg links, which can be obtained from the dynamic model, the spring forces of the legs and the impact resistance of each leg are the important parameters affecting buffering performance, and evaluation principles for buffering performance are proposed according to the aforementioned parameters. Based on the dynamic model and these evaluation principles, the buffering performances are analyzed and compared in different modes of landing and buffering on a horizontal plane and an inclined plane. The results show that the mechanism with the ends of the legs sliding can obtain a better dynamic performance. This study offers primary theories for buffering dynamics and an evaluation of landing buffer performance,and it establishes a theoretical basis for studies and engineering applications.