Novel hexapod bio-robot

Abstract

The invention relates to a novel hexapod bio-robot. The novel hexapod bio-robot comprises a body platform and six modular mechanical feet with the same structure, wherein the body platform is a rack for connecting the six mechanical feet. The novel hexapod bio-robot is characterized in that the body platform comprises an upper rack plate, a lower rack plate and connecting plates, wherein the upper rack plate and the lower rack plate are in the same shape and size and connected through the connecting plates, the six mechanical feet are symmetrically distributed between the upper rack plate and the lower rack plate and on two sides in the length direction of the upper rack plate through flanges, and adjacent mechanical feet have the equal distance; each mechanical foot comprises a coxa unit, a meropodium unit and a tibia unit, the coxa unit and the tibia unit are fixed at two ends of the meropodium unit respectively, and the upper part of the coxa unit is connected with the body platform. The robot is provided with a foot end sensing system and has multiple motion modes, thereby realizing omni-directional walking in the complex environment and dynamic sensing for the terrain environment.

Description

technical field [0001] The invention relates to robot technology, in particular to a novel bionic hexapod robot. Background technique [0002] The rapid development of robot technology has greatly promoted the application of robots in various fields, especially in some special environments, robots have become indispensable equipment. As the most basic unit of a mobile robot, the mobile platform is used to carry components such as the control system, detection system, and manipulator to the job site to perform specific job tasks. Its performance directly affects the overall performance of the robot. [0003] As a typical representative of bionic mobile robots, hexapod robots have rich gaits and redundant limb structures, flexible movements and high reliability. Compared with traditional wheeled and crawler mobile robots, although the hexapod robot moves at a lower speed, it can use discrete ground supports to achieve non-contact obstacle avoidance, obstacle crossing, up and ...

AI Technical Summary

Problems solved by technology

[0004] To sum up, the existing hexapod robots mainly have the following deficiencies: Although the overall design of the robot is based on the principle of bionics, the specific bionic structural parameters involved in the design process lack in-depth research, so that the current level of robot bionics is low, and it is difficult to give full play to the six-legged robot. The mechanical advantages of the foot robot; although the mechanical foot structure of the robot is rich and varied, there are many shortcomings, or the structure control is too complicated, the cost is high, or the joint positioning accuracy is insufficient, and there is a lack of a low-cost mechanical foot structure with simple structure control and positioning accuracy; At present, although the robot can initially realize the walking of the robot, its motion mode is single, and it can only imitate a certain biological gait (crawling, walking, and sideways), and it is difficult to integrate multiple gaits to realize the omnidirectional walking of the robot in a complex environment; the robot lacks Necessary sensing system, it is difficult to realize the dynamic perception of the terrain environment

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