Gait Analysis on Bionic Kangaroo-hopping Robot Based on Adjustable Geared Five-linkage Mechanism

A bionic kangaroo-hopping robot based on adjustable geared five-linkage mechanism is designed in order to realize energy adjustable.Optimal selection of structure parameter of robot is accomplished by ADAMS software.The robot gait in a hopping cycle is also analyzed by the action sequence which includes attitude adjustment,energy storage,takeoff and flight,landing and reset.Simplified double mass-nonlinear spring model is established in order to analyze the takeoff condition and the forces on centroid.At last,the simulation and experiment results are given to prove the feasibility of the design.