Structural design of a frog-like hopping robot with consideration of vibration and its kinematic analysis

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所 > 中科院长春光机所知识产出

	Structural design of a frog-like hopping robot with consideration of vibration and its kinematic analysis
	Jianjun Y. ; Xiangquan T. ; Shenghai H.
刊名	JVC/Journal of Vibration and Control
	2013
卷号	19 期号:2
ISSN号	ISBN/10775463
英文摘要	A natural frog was taken as the research target to develop a frog-like hopping robot. Based on the analysis of the physiological structure and jumping abilities of a frog, a frog-like hopping robot with five joints including a fore leg and a hind leg was developed. To reduce the shock and vibration influence generated during the take-off and the landing phase of the robot, flexible transmission combined with spring and synchronous belt transmission is adopted. The robot model is simplified as a parallel mechanism with seven links for the state when the robot legs touch the ground. Based on the simplified model, its forward and inverse kinematics are analyzed. The robot Jacobian matrix for the state is calculated by the method of solving branched chains Jacobian matrixes. The Author(s) 2012 Reprints and permissions: sagepub.co.uk/ journalsPermissions.nav.
收录类别	SCI ; EI
公开日期	2014-05-14
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/40866]
专题	长春光学精密机械与物理研究所_中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Jianjun Y.,Xiangquan T.,Shenghai H.. Structural design of a frog-like hopping robot with consideration of vibration and its kinematic analysis[J]. JVC/Journal of Vibration and Control,2013,19(2).
APA	Jianjun Y.,Xiangquan T.,&Shenghai H..(2013).Structural design of a frog-like hopping robot with consideration of vibration and its kinematic analysis.JVC/Journal of Vibration and Control,19(2).
MLA	Jianjun Y.,et al."Structural design of a frog-like hopping robot with consideration of vibration and its kinematic analysis".JVC/Journal of Vibration and Control 19.2(2013).