Modular bionic quadruped robot

Abstract

The invention discloses a modular bionic quadruped robot. The modular bionic quadruped robot comprises four leg joints and at least one body joint. The leg joints have three freedom degrees, rolling and pitching of drive leg mechanisms are achieved through differential gear trains, and bending and stretching of knee joints of the drive leg mechanisms are achieved through revolute pairs. The body joints have one freedom degree, the joints are driven by motors to rotate, rotary motion of the body joints is converted into compression and looseness of linear springs through cylindrical cam mechanisms, joint kinetic energy generated when the body joints swing is converted into elastic potential energy, and the elastic potential energy is released when the body joints are straightened in order to supplement kinetic energy. The body joints can be increased according to requirements, the robot is turned into a multi-spine joint robot, the leg joints can be adjusted in order to increase the width of a machine body and reduce the height, the advantages of flexibility and stability are achieved, and the kinematic and dynamic characteristics of tetrapods are simulated to the maximum degree.

Description

technical field [0001] The invention relates to a novel bionic quadruped robot mechanism, in particular to a modular bionic quadruped robot with a trunk joint module and a leg module. Background technique [0002] The legged wall-climbing robot can cross terrain-complex surfaces with obstacles such as balconies and prisms. Different from the continuous motion trajectory of wheeled and tracked robots, footed wall-climbing robots have fewer force points on the contact surface, and the energy loss of attachment and detachment is relatively small, and the efficiency is higher. The degree of freedom of the legs and feet enables the robot to maintain the balance of the body when walking on an inclined surface, avoiding the center of gravity to shift and become unstable. At present, the torsos of wall-climbing robots are all rigid, and the flexibility, stability, and free movement trajectory and turning ability are all limited, and the desired free and unobstructed movement has no...

AI Technical Summary

Problems solved by technology

At present, the torsos of wall-climbing robots are rigid, and the flexibility, stability, and free movement trajectory and turning ability are all limited, and the expected free and unobstructed movement has not been achieved.

Incomplete research on the robot's motion behavior and mechanical mechanism limits the further improvement of the robot's overall performance

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