Frog-inspired biomimetic jumping robot

A robot and frog technology, applied in the field of robotics, can solve the problems of low ratio of energy consumption to total energy consumption, complex mechanical structure and control, and low bouncing efficiency of bionic robots, so as to optimize the mechanical structure of the legs and enhance the posture. The effect of stability and improving flexibility

Inactive Publication Date: 2012-12-05
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0003] The general disadvantages of jumping robots in the prior art are: many degrees of freedom in mechanisms, complex mechanical

Method used

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  • Frog-inspired biomimetic jumping robot
  • Frog-inspired biomimetic jumping robot
  • Frog-inspired biomimetic jumping robot

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specific Embodiment

[0056] Such as figure 1 As shown, it is generally divided into hind limb drive mechanism, hind limb actuator, trunk, forelimb drive mechanism and forelimb actuator.

[0057] Such as figure 2 As shown, the hindlimb drive mechanism:

[0058] Comprising a hindlimb driving motor 7 installed on the mounting plate 8, gears are installed at the output end of the hindlimb driving motor 7, and the torque is given to the input shaft 19 through the gear-to-gear transmission torque, and the second gear 17, one-way bearing 21, and the second gear 17 are installed on the input shaft 19. The complete gear 22 and the ratchet pawl 23, the second gear 17 transmits torque to the second output shaft 20 through the gear-gear transmission structure, the ratchet pawl 23, the incomplete gear 22 and the one-way bearing 21 form a working whole, through the incomplete The gear-gear mechanism transmits torque to the first output shaft 16; the input shaft 19, the first output shaft 16 and the second ou...

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Abstract

The invention provides a frog-inspired biomimetic jumping robot. Forelimb and hindlimb driving mechanisms are mounted on a body mounting plate and connected with forelimb and hindlimb actuating mechanisms respectively, each of the forelimb driving mechanism and the hindlimb driving mechanism comprises an input shaft, a second gear, a one-way bearing, an incomplete gear and a ratchet pawl are mounted on each input shaft, each second gear is in gear transmission with a second output shaft, each incomplete gear is in gear transmission with a first output shaft, ropes are wound on second winding drums which are mounted at two ends of each first output shaft respectively, and output gears are mounted at two ends of each second output shaft respectively. By means of reasonable arrangement of the forelimb and hindlimb driving mechanisms and the forelimb and hindlimb actuating mechanisms, utilization rate of driving elements of the robot is increased, mechanical structures of legs are optimized, biomimetic degree of the robot is increased, jumping capability of the robot is enhanced, flexibility of mechanical mechanisms of the robot is improved, and posture stability during jumping is improved.

Description

technical field [0001] The invention relates to a robot, in particular to a frog-like jumping robot. Background technique [0002] With the continuous development of robot technology, in the face of harsh environments and complex terrain, using the robot's jumping function to enhance its ability to adapt to terrain and autonomous movement is a robot technology that has developed rapidly in recent years. [0003] The general disadvantages of jumping robots in the prior art are: many degrees of freedom in mechanism, complex mechanical structure and control, low ratio of energy consumption of bionic robot to total energy consumption, and low bouncing efficiency. Contents of the invention [0004] The purpose of the present invention is to provide a frog-like jumping robot with simple structure, high bionic degree, adjustable take-off attitude, stable landing and high jumping efficiency. [0005] The purpose of the present invention is achieved through the following technical...

Claims

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Application Information

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IPC IPC(8): B62D57/02
Inventor 黄昔光王建杭祖权
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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