Mechanism design and optimization of a bionic kangaroo jumping robot

[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.

[发布机构] School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an, China^1

[效力级别] 材料科学

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