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Four-foot bionic robot with planar four-bar metamorphic mechanism used on waist

A bionic robot and planar four-bar technology, applied in the field of bionic robots, can solve problems such as the difficulty of direct driving of the Hooke hinge, achieve the effects of improving mechanical movement efficiency, improving flexibility, and deep application potential

Inactive Publication Date: 2016-08-03
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the limitations of traditional multi-legged crawling robots, create a deformable, flexible, and self-adaptive multi-legged metamorphic bionic robot, and solve the problem of using a spatial six-bar metamorphic mechanism reported in the prior art. Difficult direct driving of Hooke hinge in multi-legged bionic robot

Method used

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  • Four-foot bionic robot with planar four-bar metamorphic mechanism used on waist
  • Four-foot bionic robot with planar four-bar metamorphic mechanism used on waist
  • Four-foot bionic robot with planar four-bar metamorphic mechanism used on waist

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Embodiment 1

[0044] The first embodiment is a quadruped bionic robot using a planar four-bar metamorphic mechanism on the waist, and the planar four-bar metamorphic mechanism is in a single degree of freedom four-bar mechanism state.

[0045] Such as figure 1 As shown, the present invention proposes a quadruped bionic robot using a planar four-bar metamorphic mechanism at the waist, including a closed chain and four open chains. The closed chain is composed of a first rod 1, a second rod 2, and a third rod. The rod 3 and the fourth rod 4 constitute a planar four-bar metamorphic mechanism. The open chain shown is a 2R tandem mechanism consisting of a fifth rod 9, a sixth rod 10, and a seventh rod 11.

[0046] Such as figure 2 As shown, in the closed chain, both ends of the first rod 1 are connected to one end of the second rod 2 and one end of the fourth rod 4 through the first rotating hinge 5 and the second rotating hinge 6, respectively, and the first rotating hinge 9 and the second rotating ...

Embodiment 2

[0057] Example 2: Quadruped bionic robot using planar four-bar metamorphic mechanism on the waist

[0058] In the present invention, the spatial planar four-bar metamorphic mechanism (ie, closed chain) has multiple configurations, and the topological structure and degree of freedom of the mechanism are different in each configuration.

[0059] The waist mechanism (closed chain) of the metamorphic multi-legged bionic robot of the present invention can be deformed, and can be adjusted for movement and adaptability. For example, when encountering a narrow curve, the present invention can make the waist twist at an angle and can smoothly turn the curve, which cannot be achieved if it is a multi-legged bionic robot with a rigid waist.

[0060] The metamorphic multi-legged bionic robot of the present invention can adjust the center of gravity of the waist (closed chain) through the deformation of the waist mechanism (closed chain), so that the center of gravity of the waist is always in th...

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Abstract

The invention discloses a four-foot bionic robot with a planar four-bar metamorphic mechanism used on the waist. The four-foot bionic robot comprises a closed chain and four open chains. The closed chain is a planar four-bar metamorphic bar mechanism composed of a first bar, a second bar, a third bar and a fourth bar with the same length. The open chains are of the same structure. Each open chain is a 2R serial mechanism and connected with one bar in the closed chain through a rotating hinge. Bars in each open chain are located in the same plane. The planar four-bar metamorphic mechanism is applied to the waist of the four-foot bionic robot; by means of the characteristic of variable structure stages and variable degrees of freedom of the metamorphic mechanism, waist deformation of the four-foot bionic robot is achieved, so that the waist structure of a four-foot animal is better simulated, simulation of various kinds of animals is achieved, the advantages of various kinds of animals are integrated, and flexibility and adaptive capacity of the four-foot bionic robot for different terrain environments are improved.

Description

Technical field [0001] The invention belongs to the technical field of bionic robots, and relates to a quadruped bionic robot using a planar four-bar metamorphic mechanism on the waist. Background technique [0002] The multi-legged bionic robot has a simple and flexible structure, strong carrying capacity, and good stability. It can not only walk on complex non-structural roads, easily cross large obstacles (such as trenches, rocks, etc.), but also has a dynamic gait. Realize fast movement. Multi-legged bionic robots can replace people to complete many dangerous operations, and have broad application prospects in military, mining, nuclear energy industry, planetary exploration, fire rescue, construction, agriculture and forestry logging, teaching and entertainment fields. [0003] However, when traditional multi-legged bionic robots imitate animals, their focus is mostly on the leg structure, while the waist structure is often not paid much attention. Traditional multi-legged bi...

Claims

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Application Information

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IPC IPC(8): B62D57/032B25J9/10
CPCB25J9/1065B62D57/032
Inventor 戴建生唐昭张春松赵欣田传印王雁东万昌雄
Owner TIANJIN UNIV
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