In order to improve the jumping height of multi-legged jumping robot, based on the leg structure and jumping mechanism of jumping spider, a composite jumping robot based on fuselage ejection and leg extension was designed. Firstly, based on the jumping mechanism of jumping spider, the leg structure and ejection device of robot were designed, and the overall structure of robot was modeled using UG 3D modeling software. Secondly, the MD-H (modified Denavit-Hartenberg) method was used for conduct kinematic modeling and analysis of the robot's leg, MATLAB software was used to calculate the working space of the robot's leg, and Lagrange method was used to calculate the dynamics of the leg. Then, a ejection device employing ratchet drive and bevel gear drive was designed, and its energy storage spring was designed according to the law of energy conservation and Hooke's law. Next, the motion control system for the robot was established. Finally, ADAMS motion simulation was carried out, and the results showed that the maximum height was 734.117 6 mm when the robot jumped vertically, and the maximum forward distance was 447.641 7 mm when it jumped forward. The whole motion process took 1.5-2.0 s. A physical model was made using 3D printing technology for experimental verification. The research results show that the composite jumping motion of multi-legged jumping robot can effectively improve the vertical jumping height and forward jumping distance, so the robot has better practicality.
Xiaohua WEI,Feng HAN,Xiaoliang HAN,Mingzhong HE. Design and analysis of bionic robot with compound jumping. Chinese Journal of Engineering Design, 2025, 32(3): 334-345.
Fig.1 Schematic diagram of leg distribution of jumping spider
Fig.2 Composition of leg of jumping spider
Fig.3 Jumping process of jumping spider
Fig.4 Spring damping device
Fig.5 Overall model of robot
Fig.6 Schematic diagram of robot structure
Fig.7 Jumping process of robot
Fig.8 Schematic of robot leg coordinate system
连杆
αi-1/(°)
ai-1
1
0
0
θ1
0
2
3
4
-90
0
0
0
L2
L3
θ2
θ3
θ4
0
0
0
Table 1Parameters of D-H model of robot leg
Fig.9 Working space of robot leg with hip joint movement
Fig.10 Working space of robot leg without hip joint movement
Fig.11 Simplified dynamics model of robot leg
Fig.12 Structure of ejection device of robot
Fig.13 Structure of transmission mechanism of ejection device
Fig.14 Schematic diagram of transmission of ejection device
部件
长度/mm
质量/g
尺寸（长×宽）/mm×mm
髋部连杆
44.2
29.72
股骨连杆
100
25.31
膝-胫连杆
104
34.44
跗骨连杆
140
40.03
基座
350.21
215×115
Table 2Parameters of main component of robot
Fig.15 Curve of spring elasticity
Fig.16 Curve of spring deformation
Fig.17 Curve of spring deformation speed
Fig.18 Hardware structure of motion control system of robot
Fig.19 Leg postures of jumping spider with jumping
Fig.20 Simulation process of robot's vertical jump
关节
步足1
步足2
步足3
步足4
步足5
步足6
髋关节
0
0
0
0
0
0
腿关节
-60
-60
-60
60
60
60
膝关节
60
60
60
-60
-60
-60
跗关节
50/-30
50/-30
50/30
-50/30
-50/30
-50/30
Table 3Setting of leg joint angles with robot's vertical jump
Fig.21 Height curve of mass center with robot's vertical jump
Fig.22 Velocity curve of mass center with robot's vertical jump
Fig.23 Acceleration curve of mass center with robot's vertical jump
Fig.24 Simulation process of robot's forward jump
关节
步足1
步足2
步足3
步足4
步足5
步足6
髋关节
0
0
0
0
0
0
腿关节
-29/29
-35/-40/75
-53.5/-40/93.5
29/-29
-35/-40/-75
-53.5/-40/93.5
膝关节
35/-35
25/40/-65
38.5/40/-78.5
-35/35
-25/-40/65
-38.5/-40/78.5
跗关节
40/30/-70
9.9/40/-49.9
22/60/-82
-40/-30/70
-9.9/-40/49.9
-22/-60/82
Table 4Setting of leg joint angles with robot's forward jump
Fig.25Z-direction displacement curve of mass center with robot's forward jump
Fig.26Z-direction velocity curve of mass center with robot's forward jump
Fig.27Z-direction acceleration curve of mass center with robot's forward jump
Fig.28Y-direction displacement curve of mass center with robot's forward jump
Fig.29Y-direction velocity curve of mass center with robot's forward jump
Fig.30Y-direction acceleration curve of mass center with robot's forward jump
Fig.31 Ejection device and leg model of robot
Fig.32 Comparison between experimental results and simulation results of robot jumping height
Fig.33 Comparison between experimental results and simulation results of robot jumping velocity
Fig.34 Jumping postures of model
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