CAJ | 학술논문

提出、研制仿蝗虫跳跃机构。通过高速摄像实验研究蝗虫起跳阶段运动学及力学特性结果表明，起跳阶段，蝗虫跳跃足受地面作用力相对时间呈非线性平缓变化，该力学特性有利于避免跳跃足受瞬时冲击力过大。在此基础上提出仿蝗虫跳跃机构设计方案，用六连杆机构作为跳跃腿部构件，用螺旋弹簧储能，将弹簧拉伸产生的线性力转化为跳跃足非线性驱动力，有效仿生蝗虫起跳阶段的力学特性。用研制的仿蝗虫跳跃机构原理样机进行实验。结果表明，该样机可有效仿生蝗虫起跳阶段的力学特性，与蝗虫在起跳阶段运动相似，其跳跃高度相当于自身高度的129％。研究成果可为跳跃机器人的研制提供新思路。
제출、연제방황충도약궤구。통과고속섭상실험연구황충기도계단운동학급역학특성결과표명，기도계단，황충도약족수지면작용력상대시간정비선성평완변화，해역학특성유리우피면도약족수순시충격력과대。재차기출상제출방황충도약궤구설계방안，용륙련간궤구작위도약퇴부구건，용라선탄황저능，장탄황랍신산생적선성력전화위도약족비선성구동력，유효방생황충기도계단적역학특성。용연제적방황충도약궤구원리양궤진행실험。결과표명，해양궤가유효방생황충기도계단적역학특성，여황충재기도계단운동상사，기도약고도상당우자신고도적129％。연구성과가위도약궤기인적연제제공신사로。
Proposed and manufactured a bio-jumping mechanism.The kinematics and mechanical characteristics of the locusts'take-off phase were investigated with the help of high-speed camera.The results show that the locust saltatorial leg has a non-linear force output characteristic in take-off phase,which can effectively avoid the impact of instantaneous force changes.Then,a bio-jumping mechanism inspired from locust take-off jumping was designed.By adopting a six links mechanism as the saltatorial leg and a spiral spring as a storage mechanism,the linear force generated by the spring was converted into a nonlinear leg driving force. A prototype of bio-jumping mechanism was developed and the experiments for the take-off phase were carried out. The experimental results show that the designed bio-jumping mechanism has the similar movement characteristics as the locust jumping in take-off phase,and the jumping height that the mechanism can reach is 129% the height of the mechanism structure.The results provide a new approach for the design of jumping robots.