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

Ziqiang Zhang, Qi Yang*, Xingkun Liu, Chuanzhong Zhang, Jinnong Liao

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

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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.

Original languageEnglish
Pages (from-to)1-21
Number of pages21
JournalAdvances in Mechanical Engineering
Issue number2
Early online date1 Feb 2021
Publication statusPublished - 1 Feb 2021


  • comparison study
  • comprehensive evaluation
  • modeling method
  • optimal selection method
  • Six-bar jumping leg

ASJC Scopus subject areas

  • Mechanical Engineering


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