TY - JOUR
T1 - Modeling, comparison and evaluation of one-DOF six-bar bioinspired jumping leg mechanisms
AU - Zhang, Ziqiang
AU - Yang, Qi
AU - Liu, Xingkun
AU - Zhang, Chuanzhong
AU - Liao, Jinnong
N1 - Funding Information:
The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by the National Natural Science Foundation of China (Grant No. 51805010), General Project of Beijing Education Commission (Grant No. KM201910005032), and China Postdoctoral Science Foundation funded project (Grant No. 2019T120030).
Publisher Copyright:
© The Author(s) 2021.
Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.
PY - 2021/2/1
Y1 - 2021/2/1
N2 - 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.
AB - 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.
KW - comparison study
KW - comprehensive evaluation
KW - modeling method
KW - optimal selection method
KW - Six-bar jumping leg
UR - http://www.scopus.com/inward/record.url?scp=85100353810&partnerID=8YFLogxK
U2 - 10.1177/1687814021992954
DO - 10.1177/1687814021992954
M3 - Article
AN - SCOPUS:85100353810
SN - 1687-8132
VL - 13
SP - 1
EP - 21
JO - Advances in Mechanical Engineering
JF - Advances in Mechanical Engineering
IS - 2
ER -