Six-foot bionic robot and method for optimizing leg structure with high load ratio

A technology of bionic robot and optimization method, which is applied in the field of structural design and leg design of hexapod bionic robot, can solve problems such as poor load-to-weight ratio and achieve effective response

Inactive Publication Date: 2015-12-09
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology

[0006] The invention provides a hexapod robot with a high load-to-weight ratio and an optimization method for its leg structure. Taking the load-self-weight ratio as the optimization target, the soluti

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  • Six-foot bionic robot and method for optimizing leg structure with high load ratio
  • Six-foot bionic robot and method for optimizing leg structure with high load ratio

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Embodiment Construction

[0024] Specific embodiments of the present invention are described with reference to the above drawings.

[0025] Depend on figure 1 , figure 2 , Figure 6 to Figure 8 It can be seen from the figure that firstly this high load-to-weight ratio hexapod bionic robot of the present invention includes a main body 10, and six legs 20 are equally divided into two groups and arranged along opposite sides of the main body 10, and each leg in the six legs 20 is arranged according to The following leg structure optimization method selects the length, and further includes a controller 30 for controlling the work of each part of the robot.

[0026] Depend on figure 1 with figure 2 As can be seen in the figure, the robot also includes a depth camera 40 arranged at the front end of the main body 10, and further includes a pressure sensor 22 and a touch switch 23 arranged on the foot end 21 of each leg, and furthermore, a rear end of the main body 10 is designed. Infrared sensor 50. T...

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Abstract

A six-foot bionic robot and a method for optimizing leg structure with high load ratio are disclosed. According to the integral design requirements of a robot, A three-free degree leg portion structure is employed, and the total length of a single leg portion is determined. According to the structural requirements of each section, the maximal and minimal length dimension allowed for each section of the leg portion is determined. Dynamic modeling for a robot is conducted, and the influence of the length of the robot leg joint to the load-carrying ratio is analyzed, After analysis and calculation, the length between the long-foot joint near a foot end and the intermediate node in the center is slightly greater than the minimal length of the node, and optimal load-carrying ratio is realized. The surrounding environment can be fully sensed by the robot, each leg of the robot has three freedom degrees, and the robot can walk stably on an uneven ground. The robot employs wifi communication, responds rapidly and effectively, and realizes wireless control.

Description

technical field [0001] The invention relates to robot technology, in particular to the structural design and leg design of a hexapod bionic robot. Background technique [0002] Today's robotics research field has expanded from fixed-point operations in structured environments to autonomous operations in many unstructured environments, such as aerospace, land and underwater, emergency rescue, service, and medical care. This requires the robot to have highly flexible mobility and operational performance. Although the wheeled and tracked mobile robots are widely used in people's living environment, they are still very limited to meet the requirements of future robots. Compared with wheeled and tracked robots, bionic legged robots have stronger adaptability in uneven and complex environments, such as mountains and ruins, because of their point contact with the ground, so they have attracted extensive attention in the research field. The six-legged robot can realize static cont...

Claims

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Application Information

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IPC IPC(8): B62D57/032G05B13/04
Inventor 徐文福黄志雄王志英胡忠华
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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