Bionic galloping robot based on connecting rod mechanism

Abstract

The invention relates to a bionic galloping robot based on a connecting rod mechanism. The bionic galloping robot is characterized by concretely comprising a robot body (a), a track marching module (b), a galloping mechanism module (c) and a power module (d), wherein the robot body (a) consists of two quadrilateral pierced metal plates with the shape similar to a trapezoid and is used for fixing and installing other parts of the robot; the track marching module (b) mainly comprises two damping pins, a pair of damping springs and three pairs of crawler wheels; the galloping mechanism module (c) mainly comprises thighs, shanks, soles, foot connecting rods and shank connecting rods; and the power module (d) can be divided into two submodules i.e. a unidirectional transmission gear set and an automatic energy storage and release mechanism submodule. The robot can cross a higher obstacle and jump on a higher step on one hand and abandon a pure and complete simulation principle on the other hand. A jumping mode of the robot is combined with a machine track marching mode with convenience, rapidness and strong terrain adaptability, therefore, the bionic robot has the super strong obstacle-surmounting ability.

Description

technical field [0001] The invention relates to a bionic jumping robot based on a link mechanism, belonging to the technical field of bionic robots. Background technique [0002] With the development of contemporary bionic robot technology, a series of bionic robots have appeared in people's field of vision. The appearance of bionic robots with walking modes such as robotic fish, robotic snake, biped, quadruped, and hexapod has not only attracted people's attention. interests, and some have been developed into toys, and some have been developed into devices with practical engineering application value such as detectors or vehicles. [0003] In foreign countries, the MIT Robotics Laboratory successfully developed the earliest bouncing robot in 1980. The robot can jump continuously. The Jet Propulsion Laboratory (JPL) under the National Aeronautics and Space Administration (NASA) and the California Institute of Technology have jointly developed a series of jumping machines to...

AI Technical Summary

Problems solved by technology

Northwestern Polytechnical University and Harbin Institute of Technology have also carried out related research projects in the past two years. The former mainly imitates the jumping mechanism of kangaroos. It is funded by the National Natural Science Foundation of China and has carried out a lot of theoretical research. Motion analysis has obtained a lot of experimental data, but the jumping effect of the experimental prototype made according to the theory is quite different

Images