蝗虫起跳运动分析及仿生机构研究

提出、研制仿蝗虫跳跃机构。通过高速摄像实验研究蝗虫起跳阶段运动学及力学特性结果表明，起跳阶段，蝗虫跳跃足受地面作用力相对时间呈非线性平缓变化，该力学特性有利于避免跳跃足受瞬时冲击力过大。在此基础上提出仿蝗虫跳跃机构设计方案，用六连杆机构作为跳跃腿部构件，用螺旋弹簧储能，将弹簧拉伸产生的线性力转化为跳跃足非线性驱动力，有效仿生蝗虫起跳阶段的力学特性。用研制仿蝗虫跳跃机构原理样机进行实验。结果表明，该样机可有效仿生蝗虫起跳阶段的力学特性，与蝗虫在起跳阶段运动相似，其跳跃高度相当于自身高度的129%。研究成果可为跳跃机器人的研制提供新思路。

Study on bio-jumping mechanism inspired from locust take-off jumping mechanism

A bio-jumping mechanism inspired from locust take-off mechanism is designed and fabricated. Firstly, the kinematics and mechanical characteristics of the locusts’ take-off phase were investigated by high-speed camera experimental study. The results show that the locust saltatorial leg has a non-linear force output characteristic in take-off phase, which could effectively avoid the impact of instantaneous force changes. Then, a bio-jumping mechanism inspired from locust take-off mechanism was designed. By adopting a six link mechanism as the saltatorial leg and a linear spring as storage mechanism, the linear force generated by the spring can be converted into nonlinear output force of foot. Finally, a prototype of bio-jumping mechanism was developed and the experiments for the take-off phase were carried out. The experimental results show that the designed bio-jumping mechanism has the similar movement characteristics as that of the locust during take-off phase, and it can realize relative to 129% of its own jumping height. The results provide a new approach for design of the jumping robot.