Force-sensing space-adaptive gecko inspired robot capable of fulfilling automatic adhesion and anti-adhesion functions and realizing attitude correction

A robotic and self-adaptive technology, applied in the field of robotics, can solve the problems of space surface adaptability and three-dimensional contact force perception, and has no active adhesion function, etc., to achieve the effect of light weight, ingenious structure, and convenient processing

CN106515893AActive Publication Date: 2017-03-22NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2017-03-22

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Abstract

The invention belongs to the field of application of robot technologies and relates to a force-sensing space-adaptive gecko inspired robot capable of fulfilling automatic adhesion and anti-adhesion functions and realizing attitude correction. The robot is composed of a body, limbs, a tail, four feet and the like. The design requirement of integrating sensing and driving of leg structures of a miniature foot-type robot is met. The robot can be applied to the design of multi-degree-of-freedom foot-type robots of which the feet have the automatic adhesion and anti-adhesion motion functions and which can meet the three-dimensional contact force perception and space surface adaptive ability. The tail has a rotation speed regulation function, so that the control over the attitude of the gecko inspired robot per se under microgravity can be realized, the four feet can perform front impact adhesion on the target landing surface conveniently, and the gecko inspired robot can land stably on complex target surfaces and perform surface adhesion and anti-adhesion walking motions by combining the design of automatic adhesion and anti-adhesion motions of the feet and three-dimensional contact force perception and space surface adaptive functions.
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Description

Technical field

[0001] The invention belongs to the application field of robot technology, and specifically relates to a force-sensing space-adaptive gecko-like robot with active adhesion and detachment and posture control, and is mainly used in the structural design of a foot-adhesive robot in space microgravity. Background technique

[0002] At present, domestic and international on-foot robots can include biped, quadruped, hexapod, octopod robots, etc. (patent 200780007115.1 Keisuke Suga, etc.; patent 200780002355.2 Ogawa Zhang; patent 03153505.4 Zheng Haojun, etc.; patent 200510090265.6 Zheng Shijie, etc.; patent 200810118133.3 Hu Yonghui, etc.), In the structural design of a biped robot, a single leg has 6 degrees of freedom for active driving, while in a quadruped, hexapod, and octopod robot, due to the large number of legs, the degree of freedom for a single leg is generally 3 active driving degrees. Degree of freedom, the foot end of the leg adopts point contact or ball c...

Examples

Embodiment Construction

[0038] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments:

[0039] Combine Figure 1-8 This embodiment is a force-sensing space-adaptive gecko-like robot with active adhesion and detachment and attitude control, including a robot control box 1, a one-dimensional force sensor 2, a Z-strain gauge 2a, a steering gear bracket 3, a rotating support frame 4. Rotating support frame a hole 4a, rotating support frame b hole 4b, rotating support frame c hole 4c, rotating support frame d hole 4d, wire steering gear 5, rotating flange 6, rotating flange a end 6a, rotating flange b end 6b, Rotating flange c end 6c, Rotating flange d end 6d, 2D force sensor 7, 2D force sensor No. 1 hole 7-1, 2D force sensor No. 2 hole 7-2, 2D force sensor No. 3 Hole 7-3, No. 4 hole 7-4 of two-dimensional force sensor, X-direction strain gauge 7a, Y-direction strain gauge 7b, right screw 7c, left screw 7d, ball head 8, ball joint upper cove...