In this paper, a manipulator of the bionic mantis robot is designed inspired by the anatomical structure of the mantis front leg. A geometrical method is utilized to calculate the forward kinemics. Then, by analyzing the mantis motion video frame by frame, each of the front leg joints angles is measured in crawling and preying motion, which are used as interpolation conditions to solve the planned trajectory for manipulator by cubic spline interpolation. In some circumstance, the planned joint angles may exceed its limitation. By undermining the interpolation conditions, the problem is transformed from solving a cubic spline function to optimization. Finally, particle swarm optimization with variable inertia weight is introduced to optimize the planned trajectory. The result indicates that the trajectory, smoother after optimization could effectively imitate the motion of mantis front leg within the joint rotation range, which lays the basis for further research on the motion control.

在本文中，仿生螳螂机器人的机械手是受螳螂前腿的解剖结构启发而设计的。利用几何方法来计算正向运动学。然后，通过逐帧分析螳螂运动视频，在爬行和捕食运动中测量每个前腿关节角度，将它们用作插值条件，以通过三次样条插值法求解机械手的计划轨迹。在某些情况下，计划的关节角度可能会超出其限制。通过破坏插值条件，问题从求解三次样条函数转变为优化。最后，引入具有可变惯性权重的粒子群优化算法来优化计划轨迹。结果表明轨迹，