Bionic cockroach robot based on double-four link mechanism

Abstract

The invention discloses a bionic cockroach robot based on a double-four link mechanism; the robot comprises six groups of the same feet, and upper connecting plates and lower connecting plates used for connecting the feet together. The configuration of the feet adopts the double-four link mechanism, and three steering gears drive the double-four link mechanism to respectively simulate the motion of the hip, thigh and calf joints of a cockroach. The bionic cockroach robot advances in a tripod gait way so as to realize the tripod gait motion. In order to improve the bearing capability of the robot and simultaneously put the three steering gears on the feet so as to improve the rigidity and the stability of the whole robot, the invention uses the plane four-link mechanism in the design of the configuration of the feet, can achieve the amplification of force and motion, reduce the requirements on the driving capability of the steering gears, and improves the load capability of the robot. From the perspective of bionics, the bionic cockroach robot which adopts the multi-link structural design is reasonable.

Description

technical field [0001] The invention relates to a bionic robot, in particular to a bionic cockroach robot based on a double four-bar linkage mechanism. Background technique [0002] The bionic cockroach robot is a parallel kinematic mechanism developed based on the advantages of flexible and stable cockroach movement and strong adaptability to terrain. It usually travels in a triangular gait, has good mobility, and has outstanding adaptability to uneven roads. big obstacle. Therefore, it has a wide range of applications in the fields of earthquake relief, search and rescue, and alien exploration. [0003] From the point of view of mechanism, the bionic cockroach is a complex parallel mechanism with multiple branches driven by redundancy. The flexibility, stability and carrying capacity of robots are very important, and they are the necessary basis for the integration and application of robot sensing systems. Commonly used multi-legged walking robots driven by motors adopt...

AI Technical Summary

Problems solved by technology

However, such a structure has high requirements on the motor driving capacity, the rigidity and stability of the whole machine are weak, and the robot's carrying capacity is relatively insufficient.

At the same time, because the driving parts are located at the joints, the weight of the single leg is large

During fast movement, frequent leg swings and leg changes will cause the dynamic imbalance of the whole machine, affecting the stability and accuracy of movement

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