# Bionic Design of a Miniature Jumping Robot
## 6 Conclusions  
This study has presented the overall structural design of a bouncing robot with high energy density based on the jumping mechanism of the wax cicada. An optimized parametric analysis model of the six-bar mechanism was established, and the influence of two variables of the six-bar mechanism--the angle of \(C_{1}DG\) and the length of \(DG\)--on the spring deformation variables was ultimately proposed.  
The kinetic model of the jumping phase was established, and the joint angle of the robot was obtained using kinetic equations and compared to simulation results in the ADAMS environment to verify the validity of the kinetic equations.  
Simulation of the jumping performance of the robot was carried out in the ADAMS virtual prototype environment. The feasibility of the entire implementation of the jumping robot was validated by analyzing the jumping motion of the robot in one cycle, and the jumping performance in the simulation environment was obtained. The simulation results show that the bouncing robot has good jumping ability and air posture stability.  
A physical prototype was assembled using 3D printing and other techniques, and experimental tests were completed. The results show that with an energy storage capacity of 600.2 mJ, the robot can overcome obstacles with a height of about 220 mm and a distance of about 330 mm and does not flip significantly in the air. Compared to existing miniature bouncing robots, the bouncing robot developed in this paper has a higher energy storage density and better bouncing performance per unit weight.  
In this paper, we have designed an energy storage mechanism with a high energy density of up to 600.2 mJ based on bionic principles. This design may provide a valuable reference for future research on energy storage in footed bouncing robots. However, we are aware of some shortcomings in the design of this paper, which need further research and improvement. Future research could explore higher energy density energy storage mechanisms and add other movement modes to expand the range of applications of the robot in different environments.  
Conceptualization: X.B.; Data collection: X.B.; Design methodology: X.B.; Theoretical analysis: X.B.; Software: X.B.; Experiments and testing: X.B.; Writing--original draft: X.B.; Writing--review and editing: X.B., D.K., Q.W., X.Y. and X.X. All authors have read and agreed to the published version of the manuscript.  
This research was supported by Plan for Anhui Major Provincial Science & Technology Project, grant number 2022030a6020002.  
Not applicable.  
The data used to support the findings of this study are available from the corresponding author upon request.  
\begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**Bouncing Robot** & **Weight (g)** & **Jump Height (mm)** & **Jumping Distance (s)** & **Energy Value (mJ)** & **Parameters \(\Gamma\)** \\ \hline GRILLO III [11] & 22 & 100 & 200 & 31.8 & 0.88 \\ \hline Miniature jumping robot [10] & 7 & 1380 & 790 & 154 & 2.09 \\ \hline MSU Jumper [21] & 23.5 & 872 & 898 & - & 5.185 \\ \hline Mini-Whegs [22] & 191 & 18 & - & - & 0.688 \\ \hline JelloCube [23] & 250 & 70 & 180 & - & 9.285 \\ \hline This article robot & 166.6 & 220 & 330 & 600.2 & 11.454 \\ \hline \hline \end{tabular}
\end{table}
Table 3: Comparison of the characteristics of miniature bouncing robots.