Based on the research of hopping mechanisms and hopping leg’s muscle structure of a locust, a kind of 3D model of hopping leg’s mechanisms was built, and the trajectory of the locust’s leg jumping was described by a kind of bionic four-bar linkage. The mechanisms and mechanics of this four-bar linkage were analyzed, and the curve of mechanical advantage and forces on foot cusp were worked out. Furthermore, a bionic prototype, based on the four-bar linkage, was manufactured.The results indicate the prototype has high bionic characteristics and good jumping ability.

基于对现有蝗虫跳跃机理及蝗虫弹跳腿部肌肉特性的研究，建立了弹跳腿机构的三维模型，利用仿生四杆机构对跳跃中腿部的运动轨迹进行了模拟还原，同时分析了该模型的仿生机构学和力学特性，得出了机械效益和足尖点受力仿真曲线。进一步设计完成了仿蝗虫弹跳腿机构样机，通过实验验证其不仅具有较高的形态仿生特点，同时具有较好的弹跳能力。

弹跳, 蝗虫, 仿生机构, 受力分析