A hopping-righting mechanism analysis and design of the mobile robot

This paper presents a hopping-righting device inspired by a locust hind leg and its posture turnover for the ground-based mobile robot to enhance its adaptability and ability of overcoming large obstacles. Based on the analysis of locust morphology, the simple hopping-righting mechanism is designed, focusing on jumping and righting functions. Firstly, it deals with design and optimization of a simple four-bar linkage jumping mechanism according to the analysis of the thrust force against the ground and the speed during takeoff. In addition, the design of a novel righting mechanism for the jumping mobile robot is described. In the next section, the model design and simulation are performed, and ultimately jumping and righting experiments are conducted. The results show that the hopping-righting mechanism enables the mobile robot to jump and upright itself in testing area, which makes the mobile robot more feasible and portable. That lays the foundation for further innovative research of jumping mechanisms.