Design, Implementation and Analysis of 3D Printed Grasshopper Robot for Jumping Mechanism

Abstract:

This scientific paper consists of the analysis of the grasshopper jumping mechanism through literature studies, manufacturing, analysis and experimentation to enhance the knowledge to the manufacturing and analyzing of the artificially developed grasshopper-like robots. The first step involved the understanding of the actual grasshopper mechanisms which was carried out by the dissection of actual grasshopper bodies to analyze the hind leg movements, actuating muscles and structured sizes of the involved organs. The next step involved the development structural of the prototype consisted of design of the grasshopper jumping robot and the durability of the structure was checked at the critical locations. The results indicated that the strains produced in the tibia (immediately before and immediately after the jump) and femur of the designed structure was 2.5.10^-5, 3.2.10^-5 and 634.10^-5 respectively. Whereas, the maximum allowable strain of the material during elastic deformation is 660.10^-5, so the design of the structure could satisfy the strength requirements. The structural strength of the tibia and femur with the vertical printing were also in line with the stress requirements. Fabrication and jumping test was carried out which indicated 5 times higher jumps for the designed and fabricated grasshopper like jumping robot. This result is very helpful in robotic industry for the smooth movements of the robots for carrying out the intended function on rough terrains.

• Periodical: Journal of Biomimetics, Biomaterials and Biomedical Engineering (Volume 28)
• Pages: 1-13
• DOI: https://doi.org/10.4028/www.scientific.net/JBBBE.28.1
• Online since: July 2016
• Authors: Tran Linh Khuong*
• Keywords: 3D Printing, Acrylonitrile Butadiene Styrene (ABS), Fused Deposition Modeling (FDM), Grasshopper, Jumping Robot, UP2! 3D Printer

References

[1] F. Li, W. Liu, X. Fu, G. Bonsignori, U. Scarfogliero, C. Stefanini, and P. Dario, Jumping like an insect: Design and dynamic optimization of a jumping mini robot based on bio-mimetic inspiration, Mechatronics, vol. 22, no. 2, p.167–176, Mar. (2012).

DOI: 10.1016/j.mechatronics.2012.01.001

[2] E. S. Barnard, Frogs. Pleasantville, NY: Gareth Stevens Pub., (2009).

[3] R. F. Chapman, S. J. Simpson, and A. E. Douglas, The insects: structure and function. (2013).

[4] S. Hirose and H. Yamada, Snake-like robots [Tutorial], IEEE Robot. Autom. Mag., vol. 16, no. 1, p.88–98, (2009).

DOI: 10.1109/mra.2009.932130

[5] C. C. Ward and K. Iagnemma, A Dynamic-Model-Based Wheel Slip Detector for Mobile Robots on Outdoor Terrain, IEEE Trans. Robot., vol. 24, no. 4, p.821–831, (2008).

DOI: 10.1109/tro.2008.924945

[6] M. C. Birch, R. D. Quinn, G. Hahm, S. M. Phillips, B. T. Drennan, A. J. Fife, R. D. Beer, X. Yu, S. L. Garverick, S. Laksanacharoen, A. J. Pollack, and R. E. Ritzmann, Cricket-based robots, IEEE Robot. Autom. Mag., vol. 9, no. 4, p.20–30, (2002).

DOI: 10.1109/mra.2002.1160068

[7] G. M. N. Roger D. Quinn, Insect Designs for Improved Robot Mobility.

[8] W. Zhang, S. Guo, and K. Asaka, Development of underwater microrobot with biomimetic locomotion, Appl. Bionics Biomech., vol. 3, no. 3, p.245–252, Jan. (2006).

DOI: 10.1533/abbi.2006.0033

[9] S. Guo, L. Shi, and K. Asaka, IPMC actuator-sensor based a biomimetic underwater microrobot with 8 Legs, in IEEE International Conference on Automation and Logistics, 2008. ICAL 2008, 2008, p.2495–2500.

DOI: 10.1109/ical.2008.4636588

[10] S. Guo, M. Li, L. Shi, and S. Mao, Development of a novel underwater biomimetic microrobot with two motion attitudes, in 2012 ICME International Conference on Complex Medical Engineering (CME), 2012, p.763–768.

DOI: 10.1109/iccme.2012.6275641

[11] W. Zhang, S. Guo, and K. Asaka, Development and Analysis an Underwater Boomimetic Microrobot, in 2006 IEEE International Conference on Information Acquisition, 2006, p.212–217.

DOI: 10.1109/icia.2006.305997

[12] L. Shi, S. Guo, K. Asaka, and S. Mao, Development and experiments of a novel multifunctional underwater microrobot, in 2010 IEEE 4th International Conference on Nano/Molecular Medicine and Engineering (NANOMED), 2010, p.1–6.

DOI: 10.1109/nanomed.2010.5749794

[13] S. Guo, L. Shi, and K. Asaka, IPMC actuator-based an underwater microrobot with 8 legs, in IEEE International Conference on Mechatronics and Automation, 2008. ICMA 2008, 2008, p.551–556.

DOI: 10.1109/icma.2008.4798816

[14] O. Ozcan, H. Wang, J. D. Taylor, and M. Sitti, Surface tension driven water strider robot using circular footpads, in 2010 IEEE International Conference on Robotics and Automation (ICRA), 2010, p.3799–3804.

DOI: 10.1109/robot.2010.5509843

[15] Q. -V. Nguyen, Q. -T. Truong, H. C. Park, N. S. Goo, and D. Byun, A motor-driven flapping-wing system mimicking beetle flight, in 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2009, p.1087–1092.

DOI: 10.1109/robio.2009.5420860

[16] R. J. Wood, The First Takeoff of a Biologically Inspired At-Scale Robotic Insect, IEEE Trans. Robot., vol. 24, no. 2, p.341–347, (2008).

DOI: 10.1109/tro.2008.916997

[17] Q. V. Nguyen, H. C. Park, N. S. Goo, and D. Byun, Characteristics of a Beetle's Free Flight and a Flapping-Wing System that Mimics Beetle Flight, J. Bionic Eng., vol. 7, no. 1, p.77–86, Mar. (2010).

DOI: 10.1016/s1672-6529(09)60195-5

[18] Grasshopper- Enchanted Learning Software., [Online]. Available: http: /www. enchantedlearning. com/subjects/insects/orthoptera/Grasshopperprintout. shtml. [Accessed: 14-Oct-2015].

[19] A. Konez, Preliminary Design Analysis of Like-grasshopper Jumping Mechanism, (2006).

[20] R. E. Pfadt, Field guide to common western grasshoppers, 2nd edition. Wyoming Agricultural Experiment Station, (1994).

[21] Q. -V. Nguyen and H. C. Park, Design and Demonstration of a Locust-Like Jumping Mechanism for Small-Scale Robots, J. Bionic Eng., vol. 9, no. 3, p.271–281, Sep. (2012).

DOI: 10.1016/s1672-6529(11)60121-2

[22] H. C. Bennet-Clark, The energetics of the jump of the locust Schistocerca gregaria, J. Exp. Biol., vol. 63, no. 1, p.53–83, Aug. (1975).

DOI: 10.1242/jeb.63.1.53

[23] Solving ODEs with MATLAB, 1 edition. Cambridge ; New York: Cambridge University Press, (2003).

[24] T. L. Khuong, G. Zhao, M. Farid, R. Yu, Z. Z. Sun, and M. Rizwan, Tensile Strength and Flexural Strength Testing of Acrylonitrile Butadiene Styrene (ABS) Materials for Biomimetic Robotic Applications, J. Biomim. Biomater. Biomed. Eng., vol. 20, p.11–21, Jun. (2014).

DOI: 10.4028/www.scientific.net/jbbbe.20.11