哈尔滨工业大学工学硕士学位论文 Abstract Hopping robot,which has excellent flexibility of movement and strong ability of getting over barriers,is suitable for working in the complicated and unpredictable environment,and has very good application prospects in archaeological exploration,interstellar exploration,military reconnaissance, anti-terrorism activity.Therefore,it is of great practical value to carry on the research on the hopping robot. With the evolution of a great amount of years,the body structure and movement from of life have indicated their rationalities,scientificalness and advancement.To use these advantages of life in the process of robot design,the bionic method is needed in the process of hopping robot design. First of all,to answer the question how to obtain the 3D information of the frog's jumping process,the method to gain the 3D trajectory with a high-speed camera has been designed,which has been proved by experiments.The error of this method has also been analyzed.Then,a program,used in the data processing and analyse,is designed and written to meet the need of working out the useful information of the frog's movement from the image shot by the camera.Whit the help of this method and the program,the information of frog's jumping process is gained by an experiment. Secondly,in order to study the principle of frog's jumping movement,the mechanism model of bionic frog hopping robot is built after the analyze of frog skeleton,mass distributing and the steps of frog's jumping.Then,following the analyse and calculation of the kinematics of this model,which supplies the proof that the model is suitable to simulate the frog jumping movement,the simulation of jumping process of this mechanism model is carried out in ADAMS,which gives out the mechanics law of frog jumping. Finally,based on the characteristic of frog and the principle of frog's jumping movement,parallelogram hopping mechanism is used instead of the frog hopping mechanism with many series-wound joints.The model of parallelogram hopping mechanism non-linear spring and mass block is analyzed,followed by the design and simulation of the bionic frog hopping robot.哈尔滨工业大学工学硕士学位论文 II Abstract Hopping robot, which has excellent flexibility of movement and strong ability of getting over barriers, is suitable for working in the complicated and unpredictable environment, and has very good application prospects in archaeological exploration, interstellar exploration, military reconnaissance, anti-terrorism activity. Therefore, it is of great practical value to carry on the research on the hopping robot. With the evolution of a great amount of years, the body structure and movement from of life have indicated their rationalities, scientificalness and advancement. To use these advantages of life in the process of robot design, the bionic method is needed in the process of hopping robot design. First of all, to answer the question how to obtain the 3D information of the frog's jumping process, the method to gain the 3D trajectory with a high-speed camera has been designed, which has been proved by experiments. The error of this method has also been analyzed. Then, a program, used in the data processing and analyse, is designed and written to meet the need of working out the useful information of the frog's movement from the image shot by the camera. Whit the help of this method and the program, the information of frog's jumping process is gained by an experiment. Secondly, in order to study the principle of frog's jumping movement, the mechanism model of bionic frog hopping robot is built after the analyze of frog skeleton, mass distributing and the steps of frog's jumping. Then, following the analyse and calculation of the kinematics of this model, which supplies the proof that the model is suitable to simulate the frog jumping movement, the simulation of jumping process of this mechanism model is carried out in ADAMS, which gives out the mechanics law of frog jumping. Finally, based on the characteristic of frog and the principle of frog's jumping movement, parallelogram hopping mechanism is used instead of the frog hopping mechanism with many series-wound joints. The model of parallelogram hopping mechanism non-linear spring and mass block is analyzed, followed by the design and simulation of the bionic frog hopping robot