Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 13, issue 1
Articles | Volume 13, issue 1
https://doi.org/10.5194/ms-13-437-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-13-437-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 13, issue 1
Research article
 | 
13 May 2022
Research article |  | 13 May 2022

A 2 degrees of freedom united propulsive mechanism for amphibious function inspired by frog's hindlimb

Yucheng Tang, Xiaolong Yang, Xiaojin Zhu, Shichao Zhou, Wenbin Zha, Yuxin Sun, and Yulin Wang

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Short summary
This paper presents a novel united propulsive mechanism inspired by the frog’s hindlimb. This hybrid mechanism is composed of a planar six-bar linkage, which is designed using homotopy continuation and a spatial four-bar mechanism. The two sub-chains connected on the foot form a closed loop, which decreases the degrees of freedom (DoF) of the foot to 2. The preliminary simulations validate the amphibious function of the designed mechanism.
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