Bionic pulling and pressing body system design method

Abstract

The invention discloses a bionic pulling and pressing body system design method. According to the method, through space contact hard components, a flexible component system which is distributed in a multi-dimension topological structure manner is jointly composed of active flexible components integrating driving and transmission and passive flexible components maintaining joint stability. A bionicrobot designed through the method has high flexibility due to high flexibility of the passive flexible components and the active driving type flexible components in the structure, collisions and impacts between connecting components of the bionic robot are reduced, the service life of the components is prolonged, and meanwhile the man-machine physical contact safety is improved. The active driving type flexible components in the bionic pulling and pressing body system serve as a driver for providing power for the whole system, and under assistance of the passive flexible components distributed in a topological structure manner, rapid transmission, distribution and management of energy are conducted; and meanwhile, the hard components are driven to move, energy consumption is reduced, anda self-stability, self-balance and impact-resistant bionic pulling and pressing body system is formed.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a design method of a bionic tension-compression body system. Background technique [0002] Biomimetic robot is the combined product of bionics and application requirements in the field of robotics. It has the characteristics of both biology and robots. It has gradually highlighted good application prospects in environments where people are not suitable for tasks such as anti-terrorism and explosion-proof, space exploration, emergency rescue and disaster relief. . Therefore, the research on the structural design of bionic robots has become one of the hot issues concerned by scholars at home and abroad. [0003] Literature research found that the joints of most bionic robots are designed as rigid hinges or spherical joints. Although this simplified connection can ensure the required degree of freedom of movement, due to the high rigidity, it is easy to cause the ...

AI Technical Summary

Problems solved by technology

[0003] Literature research found that the joints of most bionic robots are designed as rigid hinges or spherical joints. Although this simplified connection can ensure the required degree of freedom of movement, due to the high rigidity, it is easy to cause the robot to appear in motion. Poor adaptability, unnatural movement gait, high energy consumption, etc.

Moreover, when the moving speed of the robot increases, various loads such as high-frequency and high-amplitude torsion, shearing, and bending will occur between the components, making it inevitable that severe collisions and impacts will occur between the two rigidly connected components, which will seriously affect the robot. service life and reliability

[0004] Current passive / semi-passive robots usually use simplified structure and passive design methods to reduce energy consumption in system design, so they can only complete simple walking on slopes and flat surfaces, which is not practical

The drive system of the active control robot uses a relatively separated prime mover and transmission mechanism to realize power transmission. The drive transmission process requires multiple energy conversions, and the drive transmission efficiency of the system is not high; moreover, the parts of the robot are mostly rigid components / Components make the joints and the overall structure of the robot too rigid, which can easily lead to personal injury when the human-machine is in physical contact

Therefore, high energy consumption and poor safety of human-machine physical contact have become severe challenges for the performance improvement and practical application of bionic robots.

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