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

	Structural design of a frog-like hopping robot with consideration of vibration and its kinematic analysis
	Jianjun Y.; Xiangquan T.; Shenghai H.
	2013
发表期刊	JVC/Journal of Vibration and Control
ISSN	ISBN/10775463
卷号	19 期号:2
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
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/40866
专题	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).

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
Structural design of（2662KB）			开放获取	CC BY-NC-ND	浏览下载