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Design and realization of a low-drive bionic frog robot.

Yichen Chu1, Yahui Wang1, Mingzheng Bao1

  • 1School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, People's Republic of China.

Bioinspiration & Biomimetics
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This study introduces a bionic frog robot with an underdriven mechanism for efficient underwater locomotion. Its design enables stable swimming and minimal environmental disturbance, enhancing endurance for aquatic applications.

Keywords:
bionic frogproto-type testingunderdriven rod set designwater environment testing

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Area of Science:

  • Robotics
  • Biomimetics
  • Mechanical Engineering

Background:

  • Frogs exhibit efficient locomotion in aquatic environments.
  • Bionic robots can mimic biological functions for enhanced performance.
  • Underwater robots require stable movement and minimal disturbance.

Purpose of the Study:

  • To design and fabricate a compact, underdriven bionic frog robot.
  • To mimic frog swimming using an 8-bar linkage mechanism.
  • To enhance underwater locomotion and environmental stability.

Main Methods:

  • Developed an underdriven associative 8-bar linkage for hind legs.
  • Integrated a single motor drive for swimming motion.
  • Designed a bionic shell with adjustable buoyancy and three sealed chambers for control, power, and center-of-gravity adjustment.
  • Utilized an E30-170T27D transceiver for wireless communication and a Tensilica Xtensa LX6 microprocessor for control.

Main Results:

  • Achieved stable autonomous swimming and 3D longitudinal movement.
  • Demonstrated independent control of hind legs and center-of-gravity adjustment.
  • Attained an average speed of 100 mm/s.
  • Minimized water environment perturbations due to low-drive, bionic, and compact design.

Conclusions:

  • The bionic frog robot offers stable underwater movement and extended endurance.
  • The underdriven mechanism provides a theoretical foundation for future bionic underwater robots.
  • The robot's design minimizes environmental impact, suitable for sensitive aquatic measurements.