The biomimetic locust robot hopping vehicle has promising applications in planet exploration and reconnaissance. This paper explores the bionic dynamics model of locust jumping by using high-speed video and force anal...The biomimetic locust robot hopping vehicle has promising applications in planet exploration and reconnaissance. This paper explores the bionic dynamics model of locust jumping by using high-speed video and force analysis. This paper applies hybrid rigid-flexible mechanisms to bionic locust hopping and studies its dynamics with emphasis laid on the relationship between force and jumping performance. The hybrid rigid-flexible model is introduced in the analysis of locust mechanism to address the principles of dynamics that govern locust joints and mechanisms during energy storage and take-off. The dynamic response of the biomimetic mechanism is studied by considering the flexi- bility according to the locust jumping dynamics mechanism. A multi-rigid-body dynamics model of locust jumping is established and analyzed based on Lagrange method; elastic knee and tarsus mechanisms that were proposed in previous works are analyzed alongside the original bionic joint configurations and their machinery principles. This work offers primary theories for take-off dynamics and establishes a theoretical basis for future studies and engineering applications.展开更多
In this paper the rule of take-down speed variationthrough a mechanism of eccentric links is analysed.Us-ing telemetric technique,the authors dynamicly mea-sured take-down speed and tension of this mechanism.The curve...In this paper the rule of take-down speed variationthrough a mechanism of eccentric links is analysed.Us-ing telemetric technique,the authors dynamicly mea-sured take-down speed and tension of this mechanism.The curve diagram of the take-down speed is experi-mentally obtained.Results of theoretical analysis and ex-perimental measurement show that take-down tensionof this kind of mechanism is more even than that of theoblique rings in model Z214 interlock machine and it isdeeply affected by many factors which include the instal-lation of the conic gear,horizontality of the take-downroller,gaps between hinge joint points of the wholemechanism and so on.展开更多
基金supported by the National Natural Science Foundation of China(51375035 and 51075014)the Research Fund for the Doctoral Program of Higher Education of China(20121102110021)
文摘The biomimetic locust robot hopping vehicle has promising applications in planet exploration and reconnaissance. This paper explores the bionic dynamics model of locust jumping by using high-speed video and force analysis. This paper applies hybrid rigid-flexible mechanisms to bionic locust hopping and studies its dynamics with emphasis laid on the relationship between force and jumping performance. The hybrid rigid-flexible model is introduced in the analysis of locust mechanism to address the principles of dynamics that govern locust joints and mechanisms during energy storage and take-off. The dynamic response of the biomimetic mechanism is studied by considering the flexi- bility according to the locust jumping dynamics mechanism. A multi-rigid-body dynamics model of locust jumping is established and analyzed based on Lagrange method; elastic knee and tarsus mechanisms that were proposed in previous works are analyzed alongside the original bionic joint configurations and their machinery principles. This work offers primary theories for take-off dynamics and establishes a theoretical basis for future studies and engineering applications.
文摘In this paper the rule of take-down speed variationthrough a mechanism of eccentric links is analysed.Us-ing telemetric technique,the authors dynamicly mea-sured take-down speed and tension of this mechanism.The curve diagram of the take-down speed is experi-mentally obtained.Results of theoretical analysis and ex-perimental measurement show that take-down tensionof this kind of mechanism is more even than that of theoblique rings in model Z214 interlock machine and it isdeeply affected by many factors which include the instal-lation of the conic gear,horizontality of the take-downroller,gaps between hinge joint points of the wholemechanism and so on.
