Multi-legged biomimetic robot with metamorphic mechanism on waist

Abstract

The invention discloses a multi-legged biomimetic robot with a metamorphic mechanism on the waist. The multi-legged biomimetic robot comprises a closed chain and multiple open chains, wherein the closed chain is a metamorphic six-rod mechanism composed of a first rod, a second rod, a third rod, a fourth rod, a fifth rod and a sixth rod; the length of the second rod and the length of the sixth rod are the same, and the length of the third rod and the length of the fifth rod are the same; the second rod is connected with the third rod through a first hook hinge, and the sixth rod is connected with the fifth rod through a second hook hinge; structures of the open chains are the same, and each open chain is a 2R series-connection mechanism and is hinged to one rod in the closed chain through a rotating hinge; and the rods in each open chain are located in the same plane. The metamorphic mechanism is applied to the waist portion of the multi-legged biomimetic robot, and the characteristics of variable structure states and variable freedom degrees of the metamorphic mechanism are utilized for achieving the waist deformation of the multi-legged biomimetic robot, so that waist structures of various kinds of animals can be better simulated; the bionic performance of multiclass animals is achieved, and advantages of the multiclass animals are integrated; and the flexibility of the multi-legged biomimetic robot and adaptive capacity of the multi-legged biomimetic robot to the different terrain environments are improved.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and relates to a multi-legged bionic robot using metamorphic mechanisms at the waist. Background technique [0002] The multi-legged bionic robot has a simple and flexible mechanism, strong carrying capacity, and good stability. It can not only walk on complex unstructured roads, easily cross larger obstacles (such as ditches, rocks, etc.), but also can walk with a dynamic gait. Achieve fast movement. Multi-legged bionic robots can replace humans to complete many dangerous operations, and have broad application prospects in the fields of military, mining, nuclear energy industry, planetary exploration, fire rescue, construction, agriculture and forestry logging, teaching and entertainment. [0003] However, when traditional multi-legged bionic robots imitate animals, most of the attention is focused on the leg structure, but not much attention is usually paid to the waist structure. The w...

AI Technical Summary

Problems solved by technology

Its disadvantages are: 1) The waist is not movable, it only plays the role of support and loading platform, and has no effect on the movement and posture of the robot

2) The waist of the multi-legged bionic robot’s rigid structure cannot change its shape, and the relative positions of the legs of the robot remain unchanged. The robot can only realize walking, running, obstacle avoidance and turning by changing the posture of the legs. The motion and adaptability of the bionic robot have no effect, and the rigid waist structure greatly limits the overall working space and flexibility of the robot

3) The rigid waist of the multi-legged bionic robot greatly limits the adjustment performance of the robot to its own center of gravity, making the stability margin of the robot walking very small, there is a critical stable state in the gait, and the walking process is unstable

4) In terms of gait planning, bionic robots with rigid waists have limited gait, and cannot achieve movements similar to those of animals, such as bowing up and down, raising the waist, and twisting the waist

5) The rigid waist cannot play the role of buffering and shock absorption, and also limits the walking speed

6) Traditional bionic robots can only imitate a specific animal, and cannot imitate the forms of multiple animals at the same time

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