Research on a bionic jumping mechanism based on planar torsion spring energy storage and rope-driven tail posture stabilization

Abstract

Jumping robots provide strong obstacle-crossing capability and adaptability to unstructured terrain. This paper proposes a jerboa-inspired jumping mechanism integrating a near-vertical leg linkage, a planar-torsion-spring series elastic actuator, and a rope-driven articulated tail. The leg mechanism is optimized to reduce lateral foot motion, while the elastic actuator stores and rapidly releases energy during take-off. The articulated tail redistributes angular momentum to regulate the robot’s pitch, yaw, and roll during flight. Adams simulations show that a 50° tail rotation produces approximately 40° pitch adjustment and 12.5° yaw adjustment, while the maximum roll response reaches 7.93°. Prototype tests show that leg completes extension within 0.225s and that the tail can rapidly adjust its orientation in three directions. These results verify the feasibility of the proposed mechanism for jumping and aerial posture stabilization.