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Design and analysis of one degree of freedom mechanism for frog robot leg and simulation of swimming based on frog natural motion

Vahid Malekmohammadi Faradonbeh, Nima Jamshidi

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, Mehrdad Poursina

Department of Mechanical Engineering, Isfahan University, Isfahan, Iran P.O.B. 81746-73441 Isfahan, Iran, [email protected]

A RTICLE I NFORMATION A BSTRACT

Original Research Paper Received 14 March 2015 Accepted 14 May 2015 Available Online 20 June 2015

The study of the movement mechanism of animals has always been an important activity in academic researches. In recent decades, the investigation of frog motions in swimming and jumping and their simulations has increased. In the work ahead, by modeling the way in which muscles perform and examining the anatomy of frog leg, mechanism is designed to simulate the natural movement of the frog leg with single operator. By providing geometric approach to the design of the mechanism, the movement of frog leg is simulated, according to the variation of joint angles. Variations of major angles in the mechanism are based on those of the frog's natural movement. Actuator has sinusoidal circular motion and frog motion cycles can be created with different frequencies. The required frequency for actuator is obtained by the given speed of linear motion of foot in natural movement. Also, frog swimming is simulated by entering the drag force and the force generated by the foot. The required torque for actuator is obtained by velocity and acceleration of motion. The results of simulations compared to the results from the natural movement of the frog represent the high resolution of mechanism to mimic the real motion of the frog leg and swimming, and to match the values of velocity and acceleration and the drag force and the generated axial force. According to the obtained results, the designed mechanism can be used to simulate the movement of different types of frogs in swimming.

Keywords:

Frog, design of mechanisms Simulation

Dynamic robot

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