A flexible-rigid hopping mechanism which is inspired by the locust jumping was proposed, and its kinematic characteris- tics were analyzed. A series of experiments were conducted to observe locust morphology and jumpi...A flexible-rigid hopping mechanism which is inspired by the locust jumping was proposed, and its kinematic characteris- tics were analyzed. A series of experiments were conducted to observe locust morphology and jumping process. According to classic mechanics, the jumping process analysis was conducted to build the relationship of the locust jumping parameters. The take-offphase was divided into four stages in detail. Based on the biological observation and kinematics analysis, a mechanical model was proposed to simulate locust jumping. The forces of the flexible-rigid hopping mechanism at each stage were ana- lyzed. The kinematic analysis using pseudo-rigid-body model was described by D-H method. It is confirmed that the proposed bionic mechanism has the similar performance as the locust hind leg in hopping. Moreover, the jumping angle which decides the jumping process was discussed, and its relation with other parameters was established. A calculation case analysis corroborated the method. The results of this paper show that the proposed bionic mechanism which is inspired by the locust hind limb has an excellent kinematics performance, which can provide a foundation for design and motion planning of the hopping robot.展开更多
A novel miniature pressure regulator is fabricated and studied. The regulator can easily be integrated into portable mechatronics or miniature robotic applications because of its lightweight and compact size. An espec...A novel miniature pressure regulator is fabricated and studied. The regulator can easily be integrated into portable mechatronics or miniature robotic applications because of its lightweight and compact size. An especial poppet is designed to minimize its size and to withstand high-pressure. The pressure regulator is designed for a hopping robot which is powered by a combustion system. The hopping robot has great moving capacities such as jumping over big obstacles, wails and dit- ches. The regulator helps the hopping robot to decrease size and weight, and to sustain high pres- sure of oxygen and fuel tank. It will maintain constant output pressure to obtain suitable proportion of oxygen and fuel in the combustion cylinder. Dynamic simulation of the miniature pneumatic pres- sure regulator is performed. Experiments on prototype of miniature pneumatic pressure regulator are also carried out to validate the performance and satisfied performance is obtained.展开更多
The click beetle can jump up with a hinge when it is on the dorsal side.This jumping mechanism is simple and suitable as an inspiration for designing a simple,small,and reliable hopping robot.We report a single-legged...The click beetle can jump up with a hinge when it is on the dorsal side.This jumping mechanism is simple and suitable as an inspiration for designing a simple,small,and reliable hopping robot.We report a single-legged robot inspired by the jumping mechanism of click beetles.It is 85 mm high,60 mm long,and 41 mm wide,and weighs about 49 g.The robot has good hopping performance that the hopping height is about 4 times-4.3 times of its body height.It is capable for rescue missions that require to enter enclosed spaces through cracks and narrow channels.In addition,hopping dynamics of the robot is important to understand its jumping mechanism and improve the robot’s hopping performance.But existing dynamic study does not complete the analysis including all stages in the hopping which are pre-hopping,take-off,and air-flying.We propose the decomposition method to study dynamics of the three stages separately,and synthesize them with related parameters.The dynamic synthesis of multi-motion states in a hopping cycle of the single-legged hopping robot is implemented.The hopping performance and dynamic synthesis theory of the robot are verified by simulations and experiments.Our study helps lay the foundation for design and hopping control of simple hopping robot systems.展开更多
Redundancy facilitates some of the most remarkable capabilities of humans,and is therefore omni-present in our physiology.The relationship between redundancy in robotics and biology is investigated in detail on the Se...Redundancy facilitates some of the most remarkable capabilities of humans,and is therefore omni-present in our physiology.The relationship between redundancy in robotics and biology is investigated in detail on the Series Elastic Dual-Motor Actuator(SEDMA),an actuator inspired by the kinematic redundancy exhibited by myofibrils.The actuator consists of two motors coupled to a single spring at the output.Such a system has a redundant degree of freedom,which can be exploited to optimize aspects such as accuracy,impedance,fault-tolerance and energy efficiency.To test its potential for human-like motions,the SEDMA actuator is implemented in a hopping robot.Experiments on a physical demonstrator show that the robot's movement patterns resemble human squat jumps.We conclude that robots with bio-inspired actuator designs facilitate human-like movement,although current technical limitations may prevent them from reaching the same dynamic and energetic performance.展开更多
基金This work is financially supported by the National Natural Science Foundation of China （Grant No. 51075014）.
文摘A flexible-rigid hopping mechanism which is inspired by the locust jumping was proposed, and its kinematic characteris- tics were analyzed. A series of experiments were conducted to observe locust morphology and jumping process. According to classic mechanics, the jumping process analysis was conducted to build the relationship of the locust jumping parameters. The take-offphase was divided into four stages in detail. Based on the biological observation and kinematics analysis, a mechanical model was proposed to simulate locust jumping. The forces of the flexible-rigid hopping mechanism at each stage were ana- lyzed. The kinematic analysis using pseudo-rigid-body model was described by D-H method. It is confirmed that the proposed bionic mechanism has the similar performance as the locust hind leg in hopping. Moreover, the jumping angle which decides the jumping process was discussed, and its relation with other parameters was established. A calculation case analysis corroborated the method. The results of this paper show that the proposed bionic mechanism which is inspired by the locust hind limb has an excellent kinematics performance, which can provide a foundation for design and motion planning of the hopping robot.
文摘A novel miniature pressure regulator is fabricated and studied. The regulator can easily be integrated into portable mechatronics or miniature robotic applications because of its lightweight and compact size. An especial poppet is designed to minimize its size and to withstand high-pressure. The pressure regulator is designed for a hopping robot which is powered by a combustion system. The hopping robot has great moving capacities such as jumping over big obstacles, wails and dit- ches. The regulator helps the hopping robot to decrease size and weight, and to sustain high pres- sure of oxygen and fuel tank. It will maintain constant output pressure to obtain suitable proportion of oxygen and fuel in the combustion cylinder. Dynamic simulation of the miniature pneumatic pres- sure regulator is performed. Experiments on prototype of miniature pneumatic pressure regulator are also carried out to validate the performance and satisfied performance is obtained.
基金This work was financially supported by National Natural Science Foundation of China(Nos.51875528 and 41506116)Zhejiang Provincial Natural Science Foundation of China(No.LY20E050018)+1 种基金China Post-doctoral Science Foundation(No.2016M591991)and Science Foundation of Zhejiang Sci-Tech University(ZSTU)(No.17022183-Y).
文摘The click beetle can jump up with a hinge when it is on the dorsal side.This jumping mechanism is simple and suitable as an inspiration for designing a simple,small,and reliable hopping robot.We report a single-legged robot inspired by the jumping mechanism of click beetles.It is 85 mm high,60 mm long,and 41 mm wide,and weighs about 49 g.The robot has good hopping performance that the hopping height is about 4 times-4.3 times of its body height.It is capable for rescue missions that require to enter enclosed spaces through cracks and narrow channels.In addition,hopping dynamics of the robot is important to understand its jumping mechanism and improve the robot’s hopping performance.But existing dynamic study does not complete the analysis including all stages in the hopping which are pre-hopping,take-off,and air-flying.We propose the decomposition method to study dynamics of the three stages separately,and synthesize them with related parameters.The dynamic synthesis of multi-motion states in a hopping cycle of the single-legged hopping robot is implemented.The hopping performance and dynamic synthesis theory of the robot are verified by simulations and experiments.Our study helps lay the foundation for design and hopping control of simple hopping robot systems.
基金Tom Verstraten is a postdoctoral fellow of the Re-search Foundation Flanders-Fonds voor Wetenschap-pelijk Onderzoek(FWO).Part of this work was funded by the European Commission starting grant SPEAR(no.337596)and the DFG grants BE 5729/2 and BE 5729/1.We would like to thank Rustam Galljamov and Philipp Overath for their assistance with the demonstrator and the experiments.
文摘Redundancy facilitates some of the most remarkable capabilities of humans,and is therefore omni-present in our physiology.The relationship between redundancy in robotics and biology is investigated in detail on the Series Elastic Dual-Motor Actuator(SEDMA),an actuator inspired by the kinematic redundancy exhibited by myofibrils.The actuator consists of two motors coupled to a single spring at the output.Such a system has a redundant degree of freedom,which can be exploited to optimize aspects such as accuracy,impedance,fault-tolerance and energy efficiency.To test its potential for human-like motions,the SEDMA actuator is implemented in a hopping robot.Experiments on a physical demonstrator show that the robot's movement patterns resemble human squat jumps.We conclude that robots with bio-inspired actuator designs facilitate human-like movement,although current technical limitations may prevent them from reaching the same dynamic and energetic performance.
