Locust-imitating bouncing robot capable of walking

Abstract

The invention discloses a locust-imitating bouncing robot capable of walking. The robot comprises a rack, a walking device composed of four legs and a quadrilateral bouncing device composed of gears and connecting rods. The four walking legs can rotate around the left side face and the right side face of the rack, the front legs and the rear legs are connected through the connecting rods to achieve asynchronous motion, shifting sheets and the front legs are fixedly connected together, two protrusions are arranged on the surface of each shifting sheet, two specially-shaped cams with the phase positions differing from each other at 90 degrees are installed on a drive main shaft, tension springs are installed between the front legs and the rear legs, and upper limbs and lower limbs of the walking rear legs are connected through ball pin pairs. Bouncing legs are energy storage devices with five-rod rhombus mechanisms as bases. A control circuit, a power source, a transmission structure anda lead screw nut structure are arranged in a robot body. The whole bouncing and walking coordinating motion is achieved only through two driving links, the robot accords with the motion characteristic of a locust, and the robot is simple in whole structure, low in freedom degree and easy and convenient to control.

Description

Technical field [0001] The invention belongs to the field of bionic robots, and relates to a robot, in particular to a walking locust-like bouncing robot. Background technique [0002] The powerful obstacle-crossing performance makes the jumping robot more suitable for complex and unpredictable environments. At the same time, the rise of bionics has made more and more researchers apply its principle to the research of robots, making the jumping robot more superior performance. The bionic objects include insects such as grasshoppers, crickets, locusts, leafhoppers, and mammals such as kangaroos and dogs. Among the many bionic objects, the jumping motion of locusts is very representative in natural creatures. Its jumping ability is superior. Its jumping height can be several times longer than its own body. It can also maintain body posture stability by gliding in the air and landing. With good cushioning performance, it has become a bionic object for many researchers. [0003] In ...

AI Technical Summary

Problems solved by technology

However, the bouncing robot described above can basically only achieve a single bouncing movement, and it is far from being able to adapt to the complex terrain environment in the real nature.

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