Fig.1

Schematic diagram of the position of the ball hinge of the thrust rod"

Fig.2

Comparison of the experimental curve and the fitted curve"

Table 1

Parameter settings for the 3N-Ogden model"

Fig.3

Locust foot pads"

Fig.4

Comparison of assembly of original rubber body mesh and rubber body mesh with bionic surface"

Fig.5

Schematic diagram of bionic flexible bump parameters"

Table 2

Values of variables a，b，c"

Fig.6

Comparison of static stiffness between original model and model 1~10"

Fig.7

Stress clouds of the original model and model 4 under deflection conditions"

Fig.8

Comparison of the original model and models 1~4 at 5 Hz"

Fig.9

Radial dynamic stiffness curves for the original model and models 1~4 at 5~20 Hz"

Fig.10

Comparison of radial hysteresis loops，torsional hysteresis loops and deflection hysteresisloops for models 4， 8~10 at 5 Hz"

Fig.11

Radial dynamic stiffness curves for models 4， 8-10 at 5-20 Hz，torsional dynamic stiffness curves and deflection stiffness curves"

Table 3

Variation of dynamic stiffness"

Fig.12

Test stand and thrust rod ball hinge"

Fig.13

Comparison of simulated and experimental results of dynamic stiffness of thrust rod ball hinge"