仿生青蛙跳跃机器人的结构设计与分析

Structural Design and Analysis of the Bionic Frog Jumping Robot

摘要: 跳跃机器人具有运动灵活性高、越障能力强等特点，已成为仿生机器人的研究热点。本文所设计的机器人基于青蛙的结构特点及跳跃机理，从解剖学和行为方式两方面研究青蛙的跳跃运动规律。本文通过分析青蛙骨骼结构、质量分布及其跳跃运动特征，抽象出仿青蛙跳跃机器人的基本功能模块，并对它进行了结构设计和运动学仿真。结果表明，本文设计的仿生青蛙跳跃机器人能够实现稳定跳跃、运动控制和缓冲冲击力的效果。

Abstract: Jump robot has the characteristics of high motion flexibility and strong obstacle crossing ability, which has become the research hotspot of bionic robot. The robot designed is based on the structural characteristics and jumping mechanism of frog, the jumping movement law of frog is studied from both anatomy and behavior mode. We analyze the characteristics of frog bone structure, mass distribution and jumping movement, the basic functional modules of the frog jumping robot are abstract, and the structure design and kinematic simulation are conducted. The results show that the bionic frog jumping robot designed in this paper can achieve stable jump, motion control and buffer impact force.