Mechanism design and optimization of a bionic kangaroo jumping robot

2017 5th International Conference on Mechanical Engineering, Materials Science and Civil Engineering

机械制造;材料科学;土木建筑工程

Zhang, Y.H.^1 ; Zheng, L.^1 ; Ge, W.J.^1 ; Zou, Z.H.^1

School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an, China^1

关键词: Broad application;    Coupling mechanism;    Five-bar mechanism;    Hopping robots;    Kangaroo hopping robot;    Mechanism design;    Military reconnaissance;    Two degrees of freedom;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/324/1/012078/pdf
DOI  :  10.1088/1757-899X/324/1/012078

来源: IOP

【 摘 要 】

Hopping robots have broad application prospects in the fields of military reconnaissance, field search or life rescue. However, current hopping robots still face the problems of weak jumping ability and load bearing. Inspired by the jumping of kangaroo, we design a Kangaroo hopping robot "Zbot", which has two degrees of freedom and three joints. The geared five-bar mechanism is used to decouple the knee and ankle joints of the robot. In order to get a bionic performance, the coupling mechanism parameters are optimized. The simulation and experiments show that the robot has an excellent jumping ability and load capacity.