Design and Analysis of Bionic Jumping Leg Inspired from Locust's Jumping Mechanism

摘要

In order to study the locust's jumping performance, a high-speed locomotion capture system is developed. The captured images demonstrate that the locust's jump is driven mainly by the hind-limbs and the proximal end of femur elongates along a nearly straight line. Then, a bionic jumping leg inspired from locust's jumping mechanism is presented, which mainly composed of a four-bar linkage spring mechanism, and it can imitate the catapult mechanism of the locust and the linearity extension characters of the proximal end of femur. Further more, the four-bar linkage spring mechanism is modeled and analyzed with ADAMS. Finally, the four-bar linkage linear spring model is compared with a series of jumping models, which commonly used in jumping mechanism. The simulation results demonstrate that the jumping performance can be improved by increasing the body/leg mass ratio or tibia/femur leg ratio. The obtained results are valuable for designing a high performance jumping robot.