Jumping mechanism and simulation of the locust-like robot

Abstract

The geometrical configurations of the locust, Oedaleus infernalis, were obtained by using the stereomicroscope. The kinematics of the jumping process the locusts were analyzed from the high-speed photograph, and the jumping parameters of the locusts were gained. The characteristics of the locust during jumping were discussed. Kinematic analysis of the locust jumping provided critical 3D space point data for modeling and simulation. The dynamic model of the locust was established by the technology of virtual prototype. The displacement, velocity, acceleration and force of the locust during jumping were analyzed. According to the kinematic analysis of locust jump, a mechanical model was put forward to research the movement of the hind leg. The results showed that the model had the same advantages of low likelihood of premature lift-off and high efficiency as the locust. This work may provide the basic theory in developing locust-like robot in structural design. Besides, it provides an important reference to study the other bionic robots.