机电工程技术2025，Vol.54Issue(13)：31-40,10.DOI:10.3969/j.issn.1009-9492.2025.00075
仿猫欠驱动腿部跳跃机构设计与实验
Design and Experiment of a Feline-inspired Underactuated Legged Jumping Mechanism
摘要
Abstract
To address the low jumping height of current articulated leg-style jumping robots,a multi-joint underactuated single-leg jumping mechanism design is proposed.First,a feline-inspired hindlimb bionic model with dual-joint single-leg jumping is constructed,including configuration and parameter design.From a mechanical energy perspective,simulations demonstrate that the cam-free single-joint configuration achieves optimal jumping performance.Through iterative simulations,linkage lengths are optimized to maximize jumping efficiency while avoiding kinematic interference.Subsequently,kinematic analysis and dynamic modeling are conducted for both takeoff and aerial phases,supported by dynamic simulations.Finally,a physical prototype is developed based on design specifications.Experimental and simulation results verify its superior performance,showing a 34%higher relative jumping height compared to existing feline-inspired jumping robots.关键词
单腿跳跃机构/运动学/动力学/跳跃实验Key words
single-leg jumping mechanism/kinematics/dynamics/jumping experiment分类
信息技术与安全科学引用本文复制引用
董云龙,杨晓钧,裴昌坤..仿猫欠驱动腿部跳跃机构设计与实验[J].机电工程技术,2025,54(13):31-40,10.基金项目
国家自然科学基金联合基金(U22A20176) （U22A20176）
