Design and Experimental Evaluation of a Single-Actuator Continuous Hopping Robot Using the Geared Symmetric Multi-Bar Mechanism

Bio-inspired mechanism not only needs to be able to reproduce the movement laws of creature, but also has its shape. In order to simplify the design process and improve the design efficiency of one-degree-of-freedom (DOF) bio-inspired mechanism (especially six-bar or eight-bar mechanism), a design method based on layered constraint conditions is proposed in this paper. On the basis of the one-DOF kinematic chain, the frame is selected and the links are added in turn. At the same time, the constraint conditions are given in layers in the form of inequalities. When a closed loop is formed, the kinematic model needs to be established, and the positions of the target points or the attitudes of the target links can be represented by the driving angles or given angles. Thus, the feasible configurations and the ranges of the link lengths can be obtained. By cycling the above process, the target points can approach the reference points quickly and the design efficiency of the mechanism can be improved. The effect of the different basic kinematic chain, closed-loop forms and constraint conditions on configurations and design efficiency is analyzed in detail. It provides a reference for the design of other one-DOF mechanisms with multiple constraint conditions.

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“…For the latter, Fig. 3c shows (1) Num P i ≥ 1. and BC can all be selected as frame, and there are six possible choices of end points.…”

Section: Mechanism Design Processmentioning

confidence: 92%

“…1. First, the suitable kinematic chain (six-bar mechanism has two basic kinematic chains and eight-bar mechanism has 16 basic kinematic chains [1]) is selected, and the frame link is determined. The frame link can be two-pair link or three-pair link.…”

Section: Design Methods Overviewmentioning

confidence: 99%

Design method of one-DOF bio-inspired mechanism based on layered constraint conditions

Zhang

Liao

Zhao

et al. 2020

J Braz. Soc. Mech. Sci. Eng.

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“…The inertial forces can be analyzed for the turning walk of humanoid robots. Bai et al [39] showed a miniaturized continuous hopping robot consisting of a servo motor and the clockwork spring so that it has a good energy storage speed. Biped climbing robots need to move in a complex truss environment.…”

Section: Advanced Mobile Roboticsmentioning

confidence: 99%

Special Feature on Advanced Mobile Robotics

Kim

2019

Applied Sciences

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“…This jumping robot has been developed for many generations and has good jumping performance in rugged terrain. The eight-bar mechanism is also used for the single-actuator continuous hopping robot design by Bai et al 18…”

Section: Introductionmentioning

confidence: 99%

Modeling, comparison and evaluation of one-DOF six-bar bioinspired jumping leg mechanisms

Zhang

Yang

Liu

et al. 2021

Advances in Mechanical Engineering

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One degree-of-freedom (DOF) jumping leg has the advantages of simple control and high stiffness, and it has been widely used in bioinspired jumping robots. Compared with four-bar jumping leg, six-bar jumping leg mechanism can make the robot achieve more abundant motion rules. However, the differences among different configurations have not been analyzed, and the choice of configurations lacks basis. In this study, five Watt-type six-bar jumping leg mechanisms were selected as research objects according to the different selection of equivalent tibia, femur and trunk link, and a method for determining the dimension of the jumping leg was proposed based on the movement law of jumping leg of locust in take-off phase. On this basis, kinematics indices (sensitivity of take-off direction angle and trunk attitude angle), dynamics indices (velocity loss, acceleration fluctuation, and mean and variance of total inertial moment) and structure index (distribution of center of mass) were established, and the differences of different configurations were compared and analyzed in detail. Finally, according to the principal component analysis method, the optimal selection method for different configurations was proposed. This study provides a reference for the design of one DOF bioinspired mechanism.

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Design and Experimental Evaluation of a Single-Actuator Continuous Hopping Robot Using the Geared Symmetric Multi-Bar Mechanism

Cited by 18 publications

References 46 publications

Design method of one-DOF bio-inspired mechanism based on layered constraint conditions

Design method of one-DOF bio-inspired mechanism based on layered constraint conditions

Special Feature on Advanced Mobile Robotics

Modeling, comparison and evaluation of one-DOF six-bar bioinspired jumping leg mechanisms

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