Bionic Design of a Miniature Jumping Robot
In response to the problem of low energy storage density in the structure of existing miniature jumping robots, this study designed a parallel single-degree-of-freedom double six-link jumping robot by imitating the physiological structure and jumping mechanism of wax cicadas. The designed six-link m...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-04-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/7/4534 |
| _version_ | 1797608354931015680 |
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| author | Xianwei Bai Deyi Kong Qiong Wang Xianhai Yu Xiaoxuan Xie |
| author_facet | Xianwei Bai Deyi Kong Qiong Wang Xianhai Yu Xiaoxuan Xie |
| author_sort | Xianwei Bai |
| collection | DOAJ |
| description | In response to the problem of low energy storage density in the structure of existing miniature jumping robots, this study designed a parallel single-degree-of-freedom double six-link jumping robot by imitating the physiological structure and jumping mechanism of wax cicadas. The designed six-link mechanism was first mathematically modeled, and to accommodate the jumping structure of this robot, a six-link mechanism with a smaller cam pushrod stroke was obtained by optimizing the linkage size and position parameters in the model. The dynamics of the robot’s jumping process were then analyzed utilizing the second type of Lagrange equation to determine the joint angles of the robot’s jumping phase. The results were compared with an ADAMS-based jumping simulation to verify the validity of the analysis of the dynamics. The feasibility of the structural design was then validated using ADAMS simulations. Finally, a physical prototype of the jumping robot was produced and tested; the findings revealed that the robot had good jumping performance, was stable in the air, fully discharged 600.2 mJ of energy, and was able to overcome obstacles measuring 220 mm in height and 330 mm in distance. The design of the jumping robot provides a novel approach to improving energy storage density and serves as a foundation for future research on footed jumping robots. |
| first_indexed | 2024-03-11T05:42:17Z |
| format | Article |
| id | doaj.art-d52e926f0fc4434fa1017a8ebd6c37f8 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T05:42:17Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-d52e926f0fc4434fa1017a8ebd6c37f82023-11-17T16:21:43ZengMDPI AGApplied Sciences2076-34172023-04-01137453410.3390/app13074534Bionic Design of a Miniature Jumping RobotXianwei Bai0Deyi Kong1Qiong Wang2Xianhai Yu3Xiaoxuan Xie4Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaHefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaHefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaSchool of Microelectronics, Hefei University of Technology, Hefei 230601, ChinaHefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaIn response to the problem of low energy storage density in the structure of existing miniature jumping robots, this study designed a parallel single-degree-of-freedom double six-link jumping robot by imitating the physiological structure and jumping mechanism of wax cicadas. The designed six-link mechanism was first mathematically modeled, and to accommodate the jumping structure of this robot, a six-link mechanism with a smaller cam pushrod stroke was obtained by optimizing the linkage size and position parameters in the model. The dynamics of the robot’s jumping process were then analyzed utilizing the second type of Lagrange equation to determine the joint angles of the robot’s jumping phase. The results were compared with an ADAMS-based jumping simulation to verify the validity of the analysis of the dynamics. The feasibility of the structural design was then validated using ADAMS simulations. Finally, a physical prototype of the jumping robot was produced and tested; the findings revealed that the robot had good jumping performance, was stable in the air, fully discharged 600.2 mJ of energy, and was able to overcome obstacles measuring 220 mm in height and 330 mm in distance. The design of the jumping robot provides a novel approach to improving energy storage density and serves as a foundation for future research on footed jumping robots.https://www.mdpi.com/2076-3417/13/7/4534imitation wax cicadaparallel single-degree-of-freedom double six-linkage mechanismoptimizationLagrange equationADAMS |
| spellingShingle | Xianwei Bai Deyi Kong Qiong Wang Xianhai Yu Xiaoxuan Xie Bionic Design of a Miniature Jumping Robot Applied Sciences imitation wax cicada parallel single-degree-of-freedom double six-linkage mechanism optimization Lagrange equation ADAMS |
| title | Bionic Design of a Miniature Jumping Robot |
| title_full | Bionic Design of a Miniature Jumping Robot |
| title_fullStr | Bionic Design of a Miniature Jumping Robot |
| title_full_unstemmed | Bionic Design of a Miniature Jumping Robot |
| title_short | Bionic Design of a Miniature Jumping Robot |
| title_sort | bionic design of a miniature jumping robot |
| topic | imitation wax cicada parallel single-degree-of-freedom double six-linkage mechanism optimization Lagrange equation ADAMS |
| url | https://www.mdpi.com/2076-3417/13/7/4534 |
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