Skip to main content

Advertisement

SpringerLink
Log in

Dynamic model and performance analysis of rigid-flexible coupling four-bar leg mechanism for small scale bio-inspired jumping robot

  • Technical Paper
  • Published:
Microsystem Technologies Aims and scope Submit manuscript

Abstract

Bio-inspired jumping robot can imitate the jumping process of creatures, and can move in environment with large obstacles. This type of robot can be applied to complex situations such as earthquakes and landslides, and has a broad application prospect. Aiming at the problems of the existing micro bionic jumping robots, such as the simple dynamic model and the unclear rigid-flexible coupling characteristics, the dynamic modeling and performance analysis of rigid-flexible coupling jumping leg is conducted in this paper. Based on the analysis of the jumping mechanism of stick insect, a design method of four-bar jumping leg mechanism under multiple constraint conditions is put forward. Then the dynamic model of the rigid-flexible coupling four-bar jumping leg with flexible equivalent tibia and elastic joint is established combining with Lagrange and Newton–Euler dynamic modeling methods, which can describe the dynamic characteristics of the robot quantitatively during jumping. The relationship between the stiffness of flexible tibia and jumping performance is analyzed, which includes energy storage capacity, take-off velocity/acceleration and jumping stability. The analysis results show that proper reduction of stiffness of flexible tibia can improve the dynamic performance of small scale bio-inspired jumping robot. This study offers primary theories for design and analysis of rigid-flexible coupling four-bar jumping leg with flexible equivalent tibia and elastic joint, and it establishes a theoretical basis for studies and engineering applications.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17

Similar content being viewed by others

References

  • Beck A, Zaytsev V, Benhanan U et al (2017) Jump stabilization and landing control by wing-spreading of a locust-inspired jumper. Bioinspir Biomim 12:066006

    Article  Google Scholar 

  • Bennet-Clark HC (1975) The energetics of the jump of the locust schistocerca gregaria. Exp Biol 63:53–83

    Google Scholar 

  • Burrows M, Sutton GP (2012) Locusts use a composite of resilin and hard cuticle as an energy store for jumping and kicking. Exp Biol 215:3501–3512

    Article  Google Scholar 

  • Burrows M, Wolf H (2002) Jumping and kicking in the false stick insect Prosarthria teretrirostris: kinematics and motor control. Exp Biol 205:1519–1530

    Google Scholar 

  • Chen DS, Yin JM, Chen KW et al (2014) Biomechanical and dynamic mechanism of locust take-off. Acta Mech Sin 5:762–774

    MathSciNet  MATH  Google Scholar 

  • Chen DS, Zhang ZQ, Chen KW (2016a) Dynamic model and performance analysis of landing buffer for bionic locust mechanism. Acta Mech Sin 32:551–565

    Article  MathSciNet  MATH  Google Scholar 

  • Chen D, Zhang Z, Chen K (2016b) Legs attitudes determination for bionic locust robot based on landing buffering performance. Mech Mach Theory 99:117–139

    Article  Google Scholar 

  • Dai ZD, Gorb NS (2009) Contact mechanics of pad of grasshopper (Insecta ORTHOPTERA) by finite element methods. Chin Sci Bull 54:549–555

    Article  Google Scholar 

  • Feng ZL, Yu YQ, Wang WJ (2011) 2R pseudo-rigid-body model of compliant mechanisms with compliant links to simulate tip characteristic. Mech Eng 47:36–42

    Article  Google Scholar 

  • Haldane DW, Plecnik MM, Yim JK et al (2016) Robotic vertical jumping agility via series-elastic power modulation. Sci Robot 1:eaag2048

    Article  Google Scholar 

  • Haldane DW, Yim JK, Fearing RS (2017) Repetitive extreme-acceleration (14-g) spatial jumping with Salto-1P. IEEE/RSJ international conference on intelligent robots and systems (IROS), 2017. IEEE, New York, USA, pp 3345–3351

    Chapter  Google Scholar 

  • Han JY, Yang T, Yu JJ (2015) Advanced mechanisms. Machinery Industry Press, Beijing, pp 251–254 (in Chinese)

    Google Scholar 

  • He G, Geng Z (2011) Dynamics synthesis and control for a hopping robot with articulated leg. Mech Mach Theory 46:1669–1688

    Article  Google Scholar 

  • Hyon SH, Mita T (2002) Development of a biologically inspired hopping robot-“Kenken”. IEEE international conference on robotics and automation, 2002. IEEE, New York, USA, pp 3984–3991

    Google Scholar 

  • Hyon SH, Emura T, Mita T (2003) Dynamics-based control of a one-legged hopping robot. Part I Mech Eng I J Syst 217:83–98

    Google Scholar 

  • Jung GP, Cho KJ (2016) Froghopper-inspired direction-changing concept for miniature jumping robots. Bioinspir Biomim 11:056015

    Article  Google Scholar 

  • Jung GP, Kim JS, Koh JS et al (2014) Role of compliant leg in the flea-inspired jumping mechanism. IEEE/RSJ international conference on intelligent robots and systems (IROS), 2014. IEEE, New York, USA, pp 315–320

    Chapter  Google Scholar 

  • Jung GP, Choi HC, Cho KJ (2017) The effect of leg compliance in multi-directional jumping of the flea-inspired mechanism. Bioinspir Biomim 12:026006

    Article  Google Scholar 

  • Koh JS, Jung SP, Noh M et al (2013) Flea inspired catapult mechanism with active energy storage and release for small scale jumping robot. IEEE international conference on robotics and automation (ICRA), 2013. IEEE, New York, USA, pp 26–31

    Chapter  Google Scholar 

  • Koh JS, Jung S, Wood RJ et al (2013) A jumping robotic insect based on a torque reversal catapult mechanism. IEEE/RSJ international conference on intelligent robots and systems (IROS), 2013. IEEE, New York, USA, pp 3796–3801

    Google Scholar 

  • Koh JS, Yang E, Jung GP et al (2015) Jumping on water: surface tension-dominated jumping of water striders and robotic insects. Science 349:517–521

    Article  Google Scholar 

  • Li F, Liu W, Fu X et al (2012) Jumping like an insect: design and dynamic optimization of a jumping mini robot based on biomimetic inspiration. Mechatronics 22:167–176

    Article  Google Scholar 

  • Marco S, Gutiérrez-Gálvez A, Lansner A et al (2014) A biomimetic approach to machine olfaction, featuring a very large-scale chemical sensor array and embedded neuro-bio-inspired computation. Microsyst Technol 20(4–5):729–742

    Article  Google Scholar 

  • Mo X, Ge W, Wang S et al (2017) Mechanical design and dynamics simulation of locust-inspired straight line four-bar jumping mechanism. Mech Mach Sci 408:429–442

    Google Scholar 

  • Niiyama R, Nagakubo A, Kuniyoshi Y (2007) Mowgli: a bipedal jumping and landing robot with an artificial musculoskeletal system. IEEE international conference on robotics and automation, 2007. IEEE, New York, USA, pp 2546–2551

    Chapter  Google Scholar 

  • Noh M, Kim SW, An S et al (2012) Flea-inspired catapult mechanism for miniature jumping robots. IEEE Trans Robot 28:1007–1018

    Article  Google Scholar 

  • Peng Y, Liu L, Zhang Y et al (2017) A smooth impact drive mechanism actuation method for flapping wing mechanism of bio-inspired micro air vehicles. Microsyst Technol 2:1–7

    Google Scholar 

  • Plecnik MM, Haldane DW, Yim JK et al (2017) Design exploration and kinematic tuning of a power modulating jumping monopod. Mech. Robot. 9:011009

    Article  Google Scholar 

  • Qu J, Chen W, Zhang J et al (2016) A large-range compliant micropositioning stage with remote-center-of-motion characteristic for parallel alignment. Microsyst Technol 22(4):777–789

    Article  Google Scholar 

  • Su HJ (2008) A load independent pseudo-rigid-body 3R model for determining large deflection of beams in compliant mechanisms. ASME 2008 international design engineering technical conferences and computers and information in engineering conference, 2008. IEEE, New York, USA, pp 109–121

    Google Scholar 

  • Yu H, Li C, Yuan B et al (2017) Planar hopping control strategy for tail-actuated SLIP model traversing varied terrains. IEEE/RSJ international conference on intelligent robots and systems, 2017. IEEE, New York, USA, pp 3231–3238

    Google Scholar 

  • Zaitsev V, Gvirsman O, Ben HU et al (2015) A locust-inspired miniature jumping robot. Bioinspir Biomim 10:066012

    Article  Google Scholar 

  • Zhang J, Song G, Li Y et al (2013) A bio-inspired jumping robot: modeling, simulation, design, and experimental results. Mechatronics 23:1123–1140

    Article  Google Scholar 

  • Zhang J, Yang X, Song G et al (2015) Structural-parameter-based jumping-height-and-distance adjustment and obstacle sensing of a bio-inspired jumping robot. Int J Adv Robot Syst 12:1–15

    Article  Google Scholar 

  • Zhang ZQ, Chen DS, Chen KW (2016a) Analysis and comparison of three leg models for bionic locust robot based on landing buffering performance. Sci China Technol Sci 59:1–15

    Google Scholar 

  • Zhang ZQ, Chen DS, Chen KW et al (2016b) Analysis and comparison of two jumping leg models for bioinspired locust robot. Bionic Eng 13:558–571

    Article  Google Scholar 

  • Zhang Z, Zhao J, Chen H et al (2017) A survey of bioinspired jumping robot: takeoff, air posture adjustment, and landing buffer. Appl Bionics Biomem 2017:1–22

    Article  Google Scholar 

Download references

Acknowledgements

The project was supported by the National Natural Science Foundation of China (51805010), China Postdoctoral Science Foundation funded project (2018M630051), and Beijing Postdoctoral Research Foundation (2018-ZZ-034).

Author information

Authors and Affiliations

  1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, 100124, China

    Zi-Qiang Zhang, Qi Yang & Jing Zhao

  2. Robotic Institute, Beihang University, Beijing, 100191, China

    Shun Gui

Authors
  1. Zi-Qiang Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Qi Yang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Jing Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Shun Gui
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Shun Gui.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zhang, ZQ., Yang, Q., Zhao, J. et al. Dynamic model and performance analysis of rigid-flexible coupling four-bar leg mechanism for small scale bio-inspired jumping robot. Microsyst Technol 25, 3269–3285 (2019). https://doi.org/10.1007/s00542-019-04546-5

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00542-019-04546-5

Search

Navigation