Pneumatic-muscles-based robot hind limb simulating cheetah

Abstract

The invention provides a pneumatic-muscles-based robot hind limb simulating a cheetah. The structure of the robot hind limb comprises a hip unit 1, a thigh unit 2, a shin unit 3 and a foot unit 4, wherein the hip unit 1, the thigh unit and the shin unit respectively comprise a diaphysis and joint parts. The overall robot hind limb adopts a structural form that the diaphysis is placed inside and pneumatic muscles are placed outside to package the periphery of the diaphysis, the structural form is similar to the real body structure of an organism and approaches to a force-exerting form of the cheetah hind limb. The joint of the robot hind limb passes through a connector of upper and lower diaphyses by a connecting shaft and is supported by a rolling bearing; and one end of the connecting shaft extends out of the bearing to be connected with an angle sensor so as to obtain joint angle-rotating information and provide data for motion control. The joint ensures that linear force of the muscles is converted to rotating torque of the joint in a form of pulling (in opposite directions) of pneumatic muscles, and the rigidity is adjustable.

Description

technical field [0001] The invention relates to a special robot, in particular to a cheetah-like robot hindlimb structure based on pneumatic muscles. Background technique [0002] From an anatomical point of view, the mammalian body has a "muscle-skeletal" structure, in which the bones have relatively high rigidity to bear the body's own weight, while the muscles attached to the bones have relatively high flexibility to generate movement and reduce injuries. A special structure that can adjust its stiffness according to changes in the external environment provides inherent advantages for improving the interaction ability between organisms and the environment and energy-efficient movement. [0003] In terms of bionic robots, people apply the physiological structure of animals to bionic robotics. The leg joints of the robot include rotary joints and mobile joints, and quadruped robots mostly use rotary joints. With the development of technology faster and faster, at the same...

AI Technical Summary

Problems solved by technology

Although the current level of technology cannot fully achieve the flexible body configuration of organisms, it has always been the goal of researchers at home and abroad to simulate and approximate the structure and movement characteristics of organisms to the greatest extent.

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