Five-leg biomimetic robot mechanism

Abstract

The invention discloses a five-leg biomimetic robot mechanism which comprises a trunk, mechanical legs and a control device. An upper regular pentagon supporting plate and a lower regular pentagon supporting plate are fixed through a supporting rod to form the trunk, the control device comprises a control circuit board, a driver and a power supply, the control device is mounted in the trunk, same mechanical legs are mounted at five apexes of the trunk respectively, each mechanical leg is a four-free-degree serial mechanism, three digital rudder controllers are mounted on each mechanical leg and control the revolving pairs respectively, the revolving pairs are connected through swing rods, a supporting disk is arranged at the tail end of each leg, and the contact area between each mechanical leg and the ground is enlarged. According to the five-leg biomimetic robot mechanism, joints in each leg are serially connected, multiple legs are parallelly connected and coordinated, steering can be achieved without rotating the robot trunk when movement direction is changed, and the robot mechanism has the advantages that the mechanism is light in body, high in stability and high in carrying capacity, the mechanism rapidly steers when walking and the like.

Description

technical field [0001] The invention belongs to the technical field of robot mechanisms, in particular to a five-leg bionic robot mechanism. Background technique [0002] In recent years, with the rapid development of science and technology, robotics has gradually become an independent subject. Scientists have deepened their research on robots and made great achievements in robotics theory. Among many types of robots, robots with footed movement can cross relatively large obstacles (such as ditch, ridge, etc.) relatively easily, and the multi-degree-of-freedom of the robot's feet can make the robot's activities more flexible. It is also more adaptable to uneven terrain. It is precisely because legged robots are different from mobile robots such as wheeled and belted robots, and have been used more and more widely by virtue of their strong terrain adaptability and stability. [0003] Rodney A. Brooks. A robot that walks; emergent behaviors from carefully evolved network. I...

AI Technical Summary

Problems solved by technology

[0003] Rodney A. Brooks. A robot that walks; emergent behaviors from carefully evolved network. IEEE International Conference on Robotics and Automation, 1989, 1(2): 253-262. Genghis, a hexapod robot for planetary surface exploration, was published. The robot's legs have 2 degrees of freedom and are driven by servo motors. It contains whisker sensors, accelerometers and torque sensors inside, and can walk in complex terrain. However, the robot has too little freedom and its legs are not particularly flexible. , and is too close to the ground to cross higher obstacles

Xi Lei. Research on gait planning and walking stability of quadruped bionic robot. National University of Defense Technology, 2013. Published a quadruped robot named MiniQuad. The whole robot has modular features and good fault tolerance, but the The stability of quadruped robot is average, and it will appear cumbersome when the robot rotates

Images