Structure Design and Simulation of A Bionic Continuous Hopping Robot

摘要

The paper presented a new simple and novel design of a bionic frog-hopping robot to achieve continuous hopping. The flexible jumping leg is made by spring leaf of C-shape, which is beneficial to increase the storage of elastic energy and improve service life. The synchronize compression process of two jumping legs can be achieved by the rotating cam. The cam mechanism not only improves the reliability of the compression process, but also simplifies the design of the control system. The kinematics simulation of bionic frog hopping robot is performed based on ADAMS virtual prototype technology. The results show that the robot can complete three consecutive jumps within 1.3 seconds and the average jumping height is about 0.14 meter, and the total forward distance is about 0.23 meter. The jumping trajectory of the bionic frog-hopping robot is consistent with the desired track. The structure is proved reasonable and the continuous hopping seems to be stable.