Bionic frog robot design and motion simulation based on SolidWorks

Abstract

To improve the environmental adaptability and motion stability of small bionic jumping robots, this paper completes the structural design and motion simulation of a bionic frog robot based on the SolidWorks platform. First, by analysing the body proportions and jumping mechanism of biological frogs, we determined that the robot should adopt a modular layout : The body dimensions are 42 mm × 30 mm × 4 mm, and PCL material is used for 3D printing; The front legs are a combination of rods and fins, made of PVC material to ensure lightness and cushioning; The rear legs use a 40 mm parallelogram four-bar linkage mechanism, combined with aluminium alloy feet, to improve jumping stability. The transmission system consists of an N20 motor and a two-stage nylon gear system, with a total reduction ratio of 2.5 and an output torque of 0.51 N·m, reliably stretching the energy storage spring. Secondly, SolidWorks was used to complete part modelling, assembly and motion simulation, set a jump cycle of 4 s and 8 frames/s to track the centre of gravity trajectory of the frog robot during the three stages of jumping, vacate, and landing. The simulation results show that the robot's center of gravity is always located at the geometric center, with a deviation of less than 5%. There is no interference in the four-linkage process, the maximum extension of the spring is 8.8 mm, the reserved clearance is 3 mm, and the half-tooth gear disengages from the engagement at the moment of jumping to release energy instantaneously. Finally, a 101 g prototype was made for physical verification, and the infrared remote control single jump distance reached 30 cm, and the landing cushion success rate was > 90%. The study verified the feasibility of the design scheme and provided technical references for the application of small-scale bionic jumping robots in complex terrain.