STRUCTURAL DESIGN AND KINEMATIC ANALYSIS OF A BIONIC FROG JUMPING ROBOT

Jumping robots have garnered significant attention from both academia and industry due to their superior obstacle negotiation capabilities and high mobility. The bionic frog-inspired jumping robot represents a pivotal research focus within this domain. This study initiates with a biological examination of frogs, identifying two critical factors governing their jumping performance: center-of-gravity adjustment and hindlimb movement. A simplified structural model of the frog is established to inform the structural design of the bionic robot. The kinematic analysis is then prioritized, specifically targeting the jumping actuation mechanism. An analytical method is employed to develop a mathematical model of the mechanism, investigating the patterns of its output displacement, velocity, and acceleration. MATLAB simulations are conducted to generate motion sequence diagrams of the mechanism and the curves illustrating the angular displacement, angular velocity, and angular acceleration of each linkage. The results validate the rationality and feasibility of the mechanism's design, thereby laying a theoretical foundation for subsequent structural optimization efforts.