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A Hand-Foot Universal Mechanism for Multi-legged Robots

A technology of multi-legged robots and hands and feet, which is applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve problems such as poor operating ability, and achieve the effect of simple mechanism, good grasping operation ability, and improved flexibility

Active Publication Date: 2021-05-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention is to solve the problem that the end of the leg of the traditional multi-legged robot only has the walking function and the operation ability is not good, and then provides a hand-foot universal mechanism for the multi-legged robot

Method used

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  • A Hand-Foot Universal Mechanism for Multi-legged Robots
  • A Hand-Foot Universal Mechanism for Multi-legged Robots
  • A Hand-Foot Universal Mechanism for Multi-legged Robots

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Embodiment Construction

[0026] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0027] see figure 1 , figure 2 and image 3 Illustrates that a hand and foot universal mechanism for a multi-legged robot includes a leg 1, a docking module 2, a drive module 3, a passive compliance module 4 and an underactuated gripper module 6;

[0028] The docking module 2 is installed at the end of the leg 1, the driving module 3 is installed on the docking module 2, the passive compliance module 4 is driven by the driving module 3 to realize linear motion, and the underactuated gripper module 6 is driven by the passive compliance module 4 to realize the opening and closing movement .

[0029] The docking module 2 is used for the mechanical connection and electrical connection of the common mechanism of hands and feet; the passive compliance module 4 is driven by the driving module 3 to drive the opening and closing of...

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Abstract

A kind of hand-foot universal mechanism for a multi-legged robot, which relates to a multi-legged robot to solve the problem that the end of the leg of a traditional multi-legged robot only has a walking function and has poor operating ability. It includes a leg, a docking module, a drive Module, passive compliance module and underactuated gripper module; the docking module is installed at the end of the leg, the driving module is installed on the docking module, the passive compliance module is driven by the driving module to achieve linear motion, and the underactuated gripper module is driven by the passive compliance module Realize opening and closing movement. The invention is used for multi-legged robot walking and object grasping.

Description

technical field [0001] The invention relates to a multi-legged robot, in particular to a hand-foot universal mechanism highly integrated with a passive compliance mechanism at the end of a leg of a traditional multi-legged robot and an underactuated hand claw. Background technique [0002] In the field of bionic robots, most of the leg ends of multi-legged robots are equipped with passive compliant mechanisms to adapt to complex unstructured terrain. Operation function, in order to achieve the goal of multi-legged robots replacing humans in dangerous areas, some multi-legged robots are equipped with claws on the trunk or leg branches to realize the operating functions of multi-legged robots; but this method only solves part of the engineering The problem is far from the goal pursued by bionics. After all, well-known multi-legged creatures such as crabs have legs that can walk while using the ends of the legs to perform flexible manipulation tasks. [0003] In order to impro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08B25J18/00B25J15/08
CPCB25J9/08B25J15/08B25J18/00
Inventor 刘宏张晟毓倪风雷樊绍巍蒋再男
Owner HARBIN INST OF TECH
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