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High load-to-weight ratio hexapod bionic robot and its leg structure optimization method

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: 2017-09-05
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 solution is solved from the aspects of statics and dynamics characteristics, and the optimized leg structure parameters are obtained. Solve the technical problem of poor load-to-weight ratio in the prior art

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  • High load-to-weight ratio hexapod bionic robot and its leg structure optimization method

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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 and 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. Th...

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Abstract

A high load-to-weight ratio hexapod bionic robot and its leg structure optimization method: according to the overall design requirements of the robot, a three-degree-of-freedom leg structure is adopted, and the total length of a single leg is determined; according to the structural requirements of each section of the leg, Determine the maximum and minimum lengths allowed for each leg segment; perform dynamic modeling on the robot, and analyze the impact of the robot's leg joint length ratio on the load-to-weight ratio; after analysis and calculation, select the hiking joint near the foot end and the middle one The length of the middle section is slightly larger than the minimum length dimension of the section, thereby achieving an optimal load-to-weight ratio. The robot of the invention can comprehensively perceive the surrounding environment of the robot; each leg of the robot has three degrees of freedom, and can move forward smoothly on uneven ground; the robot adopts wifi communication, can respond quickly 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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Patent Type & Authority Patents(China)
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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