Abstract. According to the characteristics of jumping locomotion, a solution of Tetra-state Hopping Robot (for short: THR) actuated by Shape Memory Alloy Spring (for short: SMAS) is presented in this paper. This article establishes a mechanical model of the jumping robot and analyzes the kinematics and the dynamics of the mechanical model. Lagrange method is applied to analyze the dynamics the mechanical model. Meanwhile, a preliminary explanation of the THR flipping phenomenon during the take-off and flight process is conducted from the perspective of momentum moment. Hopping Robot with a Tetra-state CycleWe have successfully developed a THR, as shown in Fig. 1, which has a tetra-state cycle and is actuated by SMAS. The THR has great differences with many prototype machines developed by domestic and foreign institutions [1] . The tetra-state of the THR: resetting, energy storing, triggering and hopping are all driven by SMAS. It has been validated that the THR can assist Micro Flapping-wing Air Vehicle (for short: MFAV) to take-off, as shown in Fig. 2. The experiment method and equipment will be issued in other articles. Total weight of the THR, including its control system, is 11.1g and total height is 55mm. The THR can jump 480mm high and 520mm in horizontal distance.This article analyzes the kinematics and the dynamics of the mechanical model and preliminarily explicates the THR flipping phenomenon during the take-off and flight process from the perspective of momentum moment. Mechanical Model of THRTHR in this article is light and small, and can recover to original state for next bouncing after a take-off. As shown in Fig. 3, the THR is comprised of resetting SMAS, differential SMAS, trigger mechanism, torsional spring, rotation mechanism, adjustment pillar, former arm and back arm. The work principle of the THR is as follows: under the control of control system, the resetting SMAS 8 shrinks for being heated. Then, the rotation mechanism rotates and stretches the differential SMAS 6 downward. The first hooker 4 at this end will contact the second hooker 3 on one end of the SMAS trigger spring 2 and get locked with it. Meanwhile, some energy of heating the differential SMAS 6 is transformed and restored in the second torsional spring 10. Afterwards, the trigger SMAS

Randomness and volatility of wind power, the accepted capacity of wind power (ACWP) will become the wind power planning early first thing to consider with the increasement of the scale of wind power in grid. In this paper, we studied the correlation between wind power output and the change of daily load. The ACWP were analysis based on the power load characteristics, peak-valley difference of the Gansu Power Grid and power balance. The maximum installed capacity of wind power integrated of the five typical operating mode in 2011 is given. It is pointed out that ACWP is less than the planned capacity. At last, the specific measures to increase the ACWP are proposed.