Kinematics Analysis and Simulation on a Four-legs Jumping Robot
نویسندگان
چکیده
Abstract Inspired by the jumping action of frogs, the mechanical structure of four-legs jumping robot is given particularly. This robot is used for the rough terrains or wetland environmental exploration. The four identical legs are mainly composed of a six-bar spring/linkage mechanism integrated with two springs. The D-H parameters, the forward kinematics equation and mechanics analysis on one leg of the robot are given in taking off and flying phase. The jumping process of the robot is simulated and analyzed in the ADMAS software. The simulation result demonstrates the feasibility and validity of the mechanical design for this jumping robot.
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