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 drivin

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

Example Embodiment

[0027] Example one:

[0028] See Figure 1~Figure 11 , This pneumatic muscle-driven bipedal jumping robot with variable arm includes right leg (I), left leg (II), trunk (III), muscle system (IV) and spring system (V). It is characterized in that: the right leg (I) and the left leg (II) are connected by a nut through two parallel hollow connecting rods (90, 93), and are connected to the trunk (III) into one body; the left and right legs (I, II) have The mechanisms with the same configuration are symmetrical, each equipped with a muscle system and a spring system, and has a variable arm device.

Example Embodiment

[0029] The second embodiment: This embodiment is basically the same as the first embodiment, and the special features are as follows:

[0030] The mechanisms of the left and right legs (I, II) having the same configuration with left and right symmetry are: hip joint (98), knee joint (99), ankle joint (100), thigh (6), calf (8), tibia (10) ), foot (11), double-joint muscle moment arm changing device (102), hip joint moment arm changing device (101). The hip joint (98) and knee joint (99) are connected with the thigh (6) by threads, the knee joint (99) and ankle joint (100) are connected with the lower leg by threads, and the ankle joint (100) and foot (11) are connected with the tibia (10) Connect by thread. The hip joint (98) is composed of the hip joint (58), the hip external joint (56) and the lower pulley (96). The hip joint (58) and the hip external joint (56) pass through the hip joint. The hollow rod (57) is connected with two nuts (49), and there are two bearings (60), b...

Example Embodiment

[0031] Embodiment three:

[0032] Such as figure 1 , This pneumatic muscle-driven bipedal jumping robot with variable arms includes right leg (I), left leg (II), trunk (III), muscle system (IV), and spring system (V). It is characterized in that: the right leg (I) and the left leg (II) are connected by the central tube (90, 93); the trunk (III) is connected with the right leg (I) and the left leg (II) by the 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 body (III) and thigh (6); The muscular system (IV) connects the trunk (III) and the knee joint (99) through the dual-joint muscle RF (4), thereby controlling the extension of the trunk (III) and the calf (8); the muscular system (IV) is SOL through the single joint muscle (7) Connect the knee joint (99) and the ankle joint (100) to control the extension ...

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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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