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Bionic hopping robot with two degrees of freedom

A robot and degree-of-freedom technology, used in motor vehicles, transportation, and packaging, and can solve problems such as unsatisfactory airframe stability and inability to adjust the takeoff angle.

Inactive Publication Date: 2011-05-11
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a two-degree-of-freedom bionic bouncing robot aiming at the problems in the prior art that the bouncing robot cannot adjust the take-off angle and maintain the stability of the fuselage during the jumping process.

Method used

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  • Bionic hopping robot with two degrees of freedom
  • Bionic hopping robot with two degrees of freedom
  • Bionic hopping robot with two degrees of freedom

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Embodiment Construction

[0026] figure 1 The structure of the bionic bouncing robot with two degrees of freedom of the present invention is shown, which includes a body device, a leg device and a foot sole device.

[0027] The fuselage device is composed of the fuselage 6, the fuselage bracket 37 and the fuselage posture adjustment mechanism; the leg device is formed by overlapping the lead screw nut mechanism, the leg posture adjustment mechanism, the rod and the spring 14. It is connected with the fuselage device, and the bottom end is connected with the foot sole device;

[0028] like figure 2 As shown, the leg device adopts a gear five-bar structure with variable rod length, including a thigh rod 9, a calf rod 10, an auxiliary rod 3, a lead screw nut mechanism, a leg posture adjustment mechanism, a spring 14 and five thin rods. Long and smooth joint shafts, wherein the five joint shafts are hip joint shaft 15 , knee joint shaft 19 , ankle joint shaft 11 , auxiliary ankle joint shaft 12 and auxi...

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Abstract

The invention discloses a bionic hopping robot with two degrees of freedom, comprising a robot body device, a leg device and a sole device. With respect to the robot body device, the horizontal state of the robot body during whole hopping procedure is maintained by using a robot body gesture adjusting mechanism to adjust an included angle between the robot body device and a thigh rod. The leg device moves a nut with a shaft by using a screw nut mechanism during the gesture adjusting procedure according to a structural deformation construction principle so as to extend and shorten a spring, and uses a leg gesture adjusting motor as a drive to complete a hopping preparing gesture of the screw nut mechanism and the thigh rod; during the energy storing procedure, the stretching of the spring is completed by a screw driving motor with a relatively small power by using the relatively big transmission ratio of the screw nut mechanism, so as to realize the storing of energy; and different preparing gestures of the leg device before taking off are adjusted according to different positions of the nut on the screw when the energy storing procedure is completed, so that the adjustment of a taking off angle of the hopping robot is realized. The structure of the bionic hopping robot is simple and reliable, and the bionic hopping robot is suitable for multiple uses such as planetary exploration and the like.

Description

technical field [0001] The invention relates to a miniature bouncing robot suitable for planetary detection, in particular to a two-degree-of-freedom bionic bouncing robot. Background technique [0002] The Massachusetts Institute of Technology has disclosed a miniature bouncing robot "MICROBOTS" for asteroid surface detection. Its bouncing mechanism is a symmetrical four-bar linkage mechanism driven by insulating artificial rubber "muscles". Since the symmetrical four-bar linkage has only one degree of freedom, the bouncing robot is only a simple ejection device, and the robot cannot remain stable during the bouncing process. [0003] US patent specification US 7 168 513 B2 discloses a bouncing robot for planetary surface exploration. The bouncing mechanism of the bouncing robot involved is a six-bar bouncing mechanism with symmetrical gears composed of four connecting rods with equal lengths and two pairs of gears connected to each other, and is driven by a spring install...

Claims

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Application Information

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IPC IPC(8): B62D51/00
Inventor 葛文杰张铭陈晓红杨方柏龙
Owner NORTHWESTERN POLYTECHNICAL UNIV
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