Biomechanical and dynamic mechanism of locust take-off  

作　　者：Dian-Sheng Chen Jun-Mao Yin Ke-Wei Chen Zhen Li 

机构地区：[1]Robotics Institute, Beihang University

出　　处：《Acta Mechanica Sinica》2014年第5期762-774,共13页力学学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(51375035 and 51075014);the Research Fund for the Doctoral Program of Higher Education of China(20121102110021)

摘　　要：The biomimetic locust robot hopping vehicle has promising applications in planet exploration and reconnaissance. This paper explores the bionic dynamics model of locust jumping by using high-speed video and force analysis. This paper applies hybrid rigid-flexible mechanisms to bionic locust hopping and studies its dynamics with emphasis laid on the relationship between force and jumping performance. The hybrid rigid-flexible model is introduced in the analysis of locust mechanism to address the principles of dynamics that govern locust joints and mechanisms during energy storage and take-off. The dynamic response of the biomimetic mechanism is studied by considering the flexi- bility according to the locust jumping dynamics mechanism. A multi-rigid-body dynamics model of locust jumping is established and analyzed based on Lagrange method; elastic knee and tarsus mechanisms that were proposed in previous works are analyzed alongside the original bionic joint configurations and their machinery principles. This work offers primary theories for take-off dynamics and establishes a theoretical basis for future studies and engineering applications.The biomimetic locust robot hopping vehicle has promising applications in planet exploration and reconnaissance. This paper explores the bionic dynamics model of locust jumping by using high-speed video and force analysis. This paper applies hybrid rigid-flexible mechanisms to bionic locust hopping and studies its dynamics with emphasis laid on the relationship between force and jumping performance. The hybrid rigid-flexible model is introduced in the analysis of locust mechanism to address the principles of dynamics that govern locust joints and mechanisms during energy storage and take-off. The dynamic response of the biomimetic mechanism is studied by considering the flexi- bility according to the locust jumping dynamics mechanism. A multi-rigid-body dynamics model of locust jumping is established and analyzed based on Lagrange method; elastic knee and tarsus mechanisms that were proposed in previous works are analyzed alongside the original bionic joint configurations and their machinery principles. This work offers primary theories for take-off dynamics and establishes a theoretical basis for future studies and engineering applications.

关 键 词：Locust take-off- Dynamics Hybrid rigid- flexible Hopping mechanism 

分 类 号：Q811[生物学—生物工程]