Buffering Performance Analysis of an Ostrich-like Leg Based on a Seven-Link Parallel Mechanism

As one of the fastest running animals on land, the ostrich’s excellent athletic ability benefits from its unique leg structure. Based on the idea of bionics, this paper intends to obtain a kind of robotic leg structure with a similar buffering capacity to that of the ostrich. For this purpose, the structural characteristics of a seven-link parallel mechanism are analyzed firstly, having some specific features similar to ostrich legs, such as the center of mass (COM) located at the root of the leg, a large folding/unfolding ratio, and so on. Then, the kinematic model of the bionic leg is established, and the energy storage of the flexible parts of the leg is investigated. Finally, an impact experiment of the structure onto the ground is carried out to verify the accuracy of the established kinematic model. This paper systematically reveals the nonlinear law of the elasticity of an ostrich-like leg and provides the buffering performance characteristics of the leg in the process of hitting the ground, based on its elastic properties by the kinematic model and the experiment