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以蝗虫跳跃特性为依据,设计出一种仿蝗虫弹跳机构并对其弹跳机理进行研究.首先从生物学和机构运动学相结合的角度,对蝗虫的跳跃过程进行观察和分析,研究蝗虫后腿的跳跃机理,发现跳跃后腿膝关节在起跳过程中的重要作用.利用虚拟样机建立蝗虫模型,对蝗虫的跳跃过程进行仿真.根据蝗虫跳跃机理和后腿结构特点,基于提高能量利用率和弹跳效率原则,设计出一种单自由度的仿蝗虫跳跃机构模型,对该机构在起跳阶段进行运动性能分析,通过与蝗虫跳跃仿真结果进行比较,证明该跳跃机构具有与蝗虫弹跳后腿近似的力学特性.最后通过机构的样机实验验证了分析结果,为进一步研究仿生高效的柔性跳跃机构奠定基础.
Based on the jumping characteristics of locusts, a bouncing mechanism of locusts was designed and the bouncing mechanism was studied.Firstly, the jumping process of locusts was observed and analyzed from the perspective of the combination of biology and mechanism kinematics, The jump mechanism of jumping hind knee was found to play an important role in the process of take-off.Using virtual prototype to establish the locust model to simulate the jumping process of locusts.According to the jumping mechanism of locusts and the structural characteristics of hind legs, based on improving energy utilization and bouncing Efficiency principle, we design a single-degree imitation grasshopper jumping mechanism model, and analyze its movement performance during the take-off phase. By comparing with the result of locust jumping simulation, it is proved that the jumping mechanism has the similar mechanics Characteristics.At last, the results of the experiment are verified by the mechanism prototype, which lays the foundation for further research on the bionic and efficient flexible jumping mechanism.