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Bird webbed foot-simulated self-adaptive foot mechanism of aquatic robot

A robot and self-adaptive technology, applied in the field of foot mechanism and bionic foot mechanism, can solve the problems of unsatisfactory mechanical walking ability and complex structure, and achieve the effect of improving the displacement efficiency on water, improving the driving ability and strong stability

Inactive Publication Date: 2012-03-28
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the water robot has not yet used the robot foot mechanism imitating the webbed feet of birds. The existing water robot has a relatively complicated foot mechanism structure, and the ability of mechanical walking is not ideal.

Method used

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  • Bird webbed foot-simulated self-adaptive foot mechanism of aquatic robot
  • Bird webbed foot-simulated self-adaptive foot mechanism of aquatic robot
  • Bird webbed foot-simulated self-adaptive foot mechanism of aquatic robot

Examples

Experimental program
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Effect test

Embodiment 1

[0035] see Figure 1 ~ Figure 3, an adaptive foot mechanism of an aquatic robot imitating webbed feet of birds, including the sole of the foot and an elastic dorsiflexion mechanism attached to the instep connected to the sole of the foot, the elastic dorsiflexion mechanism includes 3 toe-like structures with the same shape, and the toe-like structure By bending and stretching, the sole of the foot is bent inward toward the center of the palm or the sole of the foot is stretched outward. The rear end of the sole of the foot is connected with the leg of the robot, and the front end of the sole of the foot is a free end. In this embodiment, the toe-shaped structure is a three-stage elastic swinging rod mechanism, and the three-stage elastic swinging rod mechanism includes three connecting rods, which are respectively the primary connecting rod 5, the secondary connecting rod 6 and the tertiary connecting rod 7, The far-end of tertiary connecting rod 7 forms the free end of tertia...

Embodiment 2

[0038] The technical solution of this embodiment is basically the same as that of Embodiment 1, the difference is that:

[0039] see Figure 4 ~ Figure 6 , in this embodiment, the above-mentioned elastic rotating joint 4 forms each joint of the toe-shaped structure, and the elastic rotating joint 4 is composed of a right-angled triangle planar living hinge 8 and an elastic element 11, and the planar living hinge 8 and a fixed link The ends are fixedly connected so that the two right-angled sides of the planar living hinge 8 are respectively parallel and perpendicular to the axis of the fixed link, and one right-angled side of the planar living hinge 8 perpendicular to the axis of the fixed link forms the rotation limit of the other movable link position, the planar living hinge 8 and the corresponding movable connecting rod are connected by a pin shaft, so that the free relative rotation range of the two connecting rods associated with the planar living hinge 8 is limited with...

Embodiment 3

[0043] The technical solutions of this embodiment are basically the same as those of Embodiment 1 and Embodiment 2, except that:

[0044] In this embodiment, the tertiary link 7 of the middle toe-shaped structure of the elastic dorsiflexion mechanism is longer than the length of the tertiary link 7 of other toe-shaped structures, so that the overall length of the middle toe-shaped structure is greater than that of other toe-shaped structures of the overall length. The robot foot has three toes, the middle toe is longer and the two sides are slightly shorter, so it is easier to form a webbed structure and improve the applicability of the robot's bionic toes for animal ergonomics.

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PUM

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Abstract

The invention discloses a bird webbed foot-simulated self-adaptive foot mechanism of aquatic robot, comprising a foot sole and an elastic dorsiflexion mechanism connected to the instep of the foot sole; said elastic dorsiflexion mechanism comprises three toe-shaped structures in the same shape; said toe-shaped structures through yielding makes the foot sole draw to the center of the foot sole centre or foot sole stretch outwardly and expand; said toe-shaped structures are three-level elastic oscillating rod mechanism; an elastic rotary connection pair rotating in a plane movable hinges corresponding connection rods. The invention can achieve self-adaptive process that is the foot sole stretches when entering water and draws when coming out of water without using drives like a motor. The invention further ensures quick speed, energy conservation, high efficiency and stability for the robot moving as a whole.

Description

technical field [0001] The invention relates to a foot mechanism related to a robot, in particular to a bionic foot mechanism of a legged robot on water, and belongs to the technical field of walking mechanisms of water robots. Background technique [0002] In recent years, the development of computer systems has promoted the progress of robot technology, and the types of robots are increasing continuously, playing an increasingly important role in modern industry. Legged robots can well adapt to changeable water and land terrains, and have extensive application value in mine search and rescue, earthquake, and material transportation after earthquakes and mudslides. [0003] For legged robots, the soles of the feet play an important role in driving its forward movement and maintaining its own balance. In different environments in water, swamps, and land, the shape and structure of the soles of the feet are also different due to the different forces on the soles of the feet....

Claims

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Application Information

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IPC IPC(8): B63B38/00B63H1/32
Inventor 蔡舒文饶进军肖辅龙
Owner SHANGHAI UNIV