Design of the Jump Mechanism for a Biomimetic Robotic Frog

摘要

Frogs are vertebrate amphibians with both efficient swimming and jumping abilities due to their well-developed hind legs. They can jump over obstacles that are many or even tens of times their size on land. However, most of the current jumping mechanisms of biomimetic robotic frogs use simple four-bar linkage mechanisms, which has an unsatisfactory biomimetic effect on the appearance and movement characteristics of frogs. At the same time, multi-joint jumping robots with biomimetic characteristics are subject to high drive power requirements for jumping action. In this paper, a novel jumping mechanism of a biomimetic robotic frog is proposed. Firstly, the structural design of the forelimb and hindlimb of the frog is given, and the hindlimb of the robotic frog is optimized based on the design of a single-degree-of-freedom six-bar linkage. A simplified model is established to simulate the jumping motion. Secondly, a spring energy storage and trigger mechanism is designed, including incomplete gear, one-way bearing, torsion spring, and so on, to realize the complete jumping function of the robot, that is, elastic energy storage and regulation, elastic energy release, and rapid leg retraction. Thirdly, the experimental prototype of the biomimetic robotic frog is fabricated. Finally, the rationality and feasibility of the jumping mechanism are verified by a jumping experiment. This work provides a technical and theoretical basis for the design and development of a high-performance amphibious biomimetic robotic frog.