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中文摘要：
提出了一种跳跃腿机构.为减轻质量,降低能耗,采用单电机驱动方式,通过分时控制实现机构的跳跃、空中收腿和能量调节动作.在结构设计中采用五杆机构作为腿部执行机构,并增加了脚掌和跗跖关节以保证跳跃和着陆时的稳定性.结合仿真分析了其跳跃过程及各阶段的关键动作,最后对机器腿进行了跳跃实验,实验证明：其具有很好的跳跃能力及较高的跳跃效率,能实现空中收腿动作以及稳定着陆.
英文摘要：
This paper presents a mechanical jumping leg with the capability of jumping,retracting the leg in the air and adjusting the energy of spring.For the purpose of reducing the weight and the energy consumption,the jumping leg is actuated by a single motor.The 5-bar linkage is adopted as the main part of the leg including the foot and the tarsometatarsal joint to enhance the stability during jumping and landing.The key motion of each phase in the whole jump is analyzed by simulation.Experiments are implemented on the jumping leg robot,and the result demonstrates that it has good capability of jumping,shows high jumping efficiency,and can retract the leg in the air for landing steadily.The mechanical leg will be applied to the design of jumping frog robot as hindlimb.
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