Single-drive bionic multi-legged robot and reconfiguration steering method thereof

A multi-legged robot and single-drive technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of complex control, difficulty in realizing the rapid and efficient movement of the robot, and increasing the quality of the robot, so as to improve the moving efficiency, simple structure, and control easy effect

Active Publication Date: 2018-11-30
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The more the number of drives of the legged robot, although the flexibility of the robot's movement can be improved, but at the same time the quality of the robot is increased, and the control becomes complicated, making it difficult to achieve fast and efficient movement of the robot.

Method used

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  • Single-drive bionic multi-legged robot and reconfiguration steering method thereof
  • Single-drive bionic multi-legged robot and reconfiguration steering method thereof
  • Single-drive bionic multi-legged robot and reconfiguration steering method thereof

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Embodiment Construction

[0021] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0022] Such as figure 1 As shown, a single-drive bionic multi-legged robot consists of frame A, left rear leg B, left front leg C, right rear leg D and right front leg E.

[0023] The mechanical structure of the right front leg E, the left rear leg B, the left front leg C, and the right rear leg D, the shape of the bar and the assembly method are exactly the same.

[0024] Such as figure 2 As shown, the right front leg E includes: crank E-1, connecting rod E-2, biceps brachii connecting rod E-3, upper gastrocnemius connecting rod E-4, Achilles tendon E-5, gastrocnemius Lower connecting rod E-6, metatarsal bone E-7, quadratus plantar connecting rod upper E-8, quadratus plantar muscle E-9, lower quadratus plantar connecting rod E-10, rubber pad E-11, phalanges E -12, splint E-13, calf bone E-14 and femur bone E-15.

[0025] The connection method in the rig...

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Abstract

The invention discloses a single-drive bionic multi-legged robot and a reconfiguration steering method thereof. The single-drive bionic multi-legged robot comprises a frame (A), a left rear leg (B), aleft front leg (C), a right rear leg (D) and a right front leg (E). Buffering and energy storage components such as Achilles tendon (E-5), plantar quadrates (E-9) and a rubber pad (E-11) are mountedon each leg of the robot. The four legs are connected with a motor (A-1) through belt transmission to realize single drive. By linear drive including a push rod, a hydraulic cylinder and the like mounted in a biceps brachii connecting rod (E-3) in each leg, leg supporting phase length variation is realized, and reconfiguration steering is realized. Due to single drive, the robot is integrally simple in structure, easy to control and high in reliability. By adding of the elastic components into the legs of the robot, impact of the legs and the ground is reduced, and moving efficiency is improved. Reconfiguration steering is provided for a steering control strategy. The single-drive bionic multi-legged robot can be used for military surveillance, transporting and the like.

Description

technical field [0001] The invention relates to a single-drive bionic multi-legged robot and a reconfiguration steering method thereof. Specifically, a single motor drives the multi-legged robot to move, the leg structure imitates a cheetah, and the robot turns by reconfiguring the legs. The invention can be used for military investigation, delivery and so on. Background technique [0002] As the fastest running land creature, the cheetah can reach a maximum speed of 120km / h. Its legs have a large number of passive flexible structures such as tendons and ligaments, which can store and release energy during running. From the perspective of bionics, adding elastic elements to the leg of the footed robot can reduce the impact between the foot and the ground, which is conducive to the rapid movement of the footed robot and the realization of running posture. [0003] The more the number of drives of the legged robot, although the flexibility of the robot's movement can be impro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 姚燕安徐小景武建昫宁亚飞巢鑫迪
Owner BEIJING JIAOTONG UNIV
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