Biomimetic Locust-Inspired Jumping Takeoff Mechanism for Flapping-Wing Aerial Robots

With Jumping Takeoff refers to the behavior where insects gain initial momentum by jumping before taking off, which is an essential survival ability for many insects. Some insects can jump and take off from a horizontal surface, with their legs playing a crucial role in this process. The takeoff motion of insects has inspired researchers to develop similar capabilities in bionic insect robots, thereby enhancing their adaptability in unstructured environments. Currently, flapping-wing robots face limitations in autonomous take off. In this study, the locust ( Locusta migratoria ) serves as the bionic research subject. By observing the thoracic-leg movement sequences during its jumping takeoff, we analyze the skeletal-muscular jumping mechanism. Based on this, a jumping takeoff mechanism solution suitable for flapping-wing robots is designed. The proposed concept integrates the takeoff mechanism with simulated skeletal-muscular structures to achieve maximum jumping height and initial takeoff velocity with low energy consumption. Furthermore, a simplified 3D model of the mechanism is constructed, followed by kinematic simulations in Adams to analyze its motion characteristics. Finally, aerodynamic performance simulations of the leg structures during takeoff are conducted using Fluent (2024 R2), validating that the designed mechanism meets the takeoff requirements for bionic flapping-wing robots.