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Biped jumping robot with variable pneumatic muscle driving force arm

A pneumatic muscle and driving force technology, which is applied in motor vehicles, transportation and packaging, etc., can solve the problems of lack of bionicity and flexibility of robots, and heavy weight of robots, so as to achieve strong motion flexibility, improved stretching, and good bionicity Effect

Inactive Publication Date: 2018-09-18
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the current driving methods for bionic jumping robots use motors and hydraulic drives. These driving methods lead to heavy weight of the robot, and the robot lacks bionicity and flexibility during movement.

Method used

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  • Biped jumping robot with variable pneumatic muscle driving force arm
  • Biped jumping robot with variable pneumatic muscle driving force arm
  • Biped jumping robot with variable pneumatic muscle driving force arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] see Figure 1~Figure 11 , a bipedal jumping robot with variable arm driven by pneumatic muscles, including right leg (I), left leg (II), torso (III), muscle system (IV) and spring system (V). It is characterized in that: the right leg (I) and the left leg (II) are connected through two parallel hollow connecting rods (90, 93) through nuts, and connected with the trunk (III) as a whole; the left and right legs (I, II) have The left and right symmetrical mechanisms with the same configuration are each equipped with a muscle system and a spring system, and have a variable force arm device.

Embodiment 2

[0029] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0030]The left and right legs (I, II) have the same left-right symmetrical configuration: including hip joints (98), knee joints (99), ankle joints (100), thighs (6), lower legs (8), tibia (10 ), foot (11), double-joint muscle moment arm changing device (102), hip joint moment arm changing device (101). Among them, the hip joint (98) and the knee joint (99) are connected with the thigh (6) through threads, the knee joint (99) and the ankle joint (100) are connected with the lower leg through threads, and the ankle joint (100) and the foot (11) are connected with the tibia (10) Connected by thread. The hip joint (98) is made up of the middle joint of the hip joint (58), the outer joint of the hip joint (56) and the lower pulley of the hip joint (96). The middle joint of the hip joint (58) and the outer joint of the hip joint (56) pass through the upper The ho...

Embodiment 3

[0032] Such as figure 1 , The biped jumping robot with variable arm driven by pneumatic muscles includes right leg (I), left leg (II), torso (III), muscle system (IV), and spring system (V). It is characterized in that: right leg (I) and left leg (II) are connected through central tube (90, 93); trunk (III) is connected with right leg (I) and left leg (II) through hollow tube (25, 94) .

[0033] Such as figure 2 , the muscular system (IV) connects the trunk (III) and the hip joint (98) through the single-joint muscles Gmax-A (2) and Gmax-B (3), thereby controlling the extension of the trunk (III) and thigh (6); The muscular system (IV) connects the trunk (III) and the knee joint (99) through the double-joint muscle RF (4), thereby controlling the extension of the trunk (III) and lower leg (8); the muscular system (IV) through the single-joint muscle SOL (7) Connects the knee joint (99) to the ankle joint (100), thereby controlling the extension of the tibia (10).

[0034]...

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Abstract

The invention relates to a biped jumping robot with a variable pneumatic muscle driving force arm. The biped jumping robot with the variable pneumatic muscle driving force arm comprises a left leg, aright leg, a body, a muscle system and a spring system. Through coordinated motion between a pneumatic muscle, an elastic spring and so on, vertical jumping and oblique jumping motions can be very well realized. The biped jumping robot with the variable pneumatic muscle driving force arm has the advantages of simple and compact design structure, structural geometrical similarity, structural mass convenience, mechanism motion bio-imitability, flexibility and so on; and the mobility of the biped robot adapting to the unstructured environment can be improved.

Description

technical field [0001] The invention relates to a biped jumping robot with variable pneumatic muscle driving force arm, which consists of a left leg, a right leg, a torso, a muscle system and a spring system. Through coordinated movements such as pneumatic muscles and elastic springs, vertical jumps and oblique jumps can be well realized. It has the characteristics of simple and compact structure, light weight, structural geometric similarity, motion bionics and flexibility, etc., and can effectively improve the mobility of biped robots to adapt to unstructured environments. Background technique [0002] With the development of robot technology and bionic technology, robots are developing towards a more bionic and flexible direction, and at the same time, they are also developing from the initial walking to jumping. Most of the current driving methods for bionic jumping robots use motors and hydraulic drives. These driving methods lead to heavy weight of the robot, and the ...

Claims

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Application Information

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IPC IPC(8): B62D57/02
CPCB62D57/02
Inventor 雷静桃陈子衡张恒程利亚王洋
Owner SHANGHAI UNIV
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