Variable stiffness quadruped bionic quadruped robot flexible continuous body spine mechanism

A quadruped robot and continuum technology, applied in the field of robotics, can solve problems such as multi-degree-of-freedom bending and variable stiffness of multi-joints, and achieve the effects of improving flexibility and motion performance, reducing control difficulty, and eliminating energy

Active Publication Date: 2019-09-20
WUHAN UNIV OF TECH
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

However, the spine mechanism of the bionic quadruped robot that has been proposed at home and abroad can not meet the functional requirements of multi-degree-of-freedom bending, multi-joint, variable stiffness, etc.

Method used

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  • Variable stiffness quadruped bionic quadruped robot flexible continuous body spine mechanism
  • Variable stiffness quadruped bionic quadruped robot flexible continuous body spine mechanism
  • Variable stiffness quadruped bionic quadruped robot flexible continuous body spine mechanism

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Embodiment Construction

[0029] Explanation of the name, the antagonistic type means that they are functionally antagonistic to each other, but also coordinate and depend on each other.

[0030]The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0031] like Figure 1 to Figure 10 As shown, a flexible continuum spine mechanism of a bionic quadruped robot with variable stiffness of the present invention is mainly composed of two parts, including a continuum spine and a motor drive mechanism, wherein the motor drive mechanism is composed of two functional units, including lateral bending The quasi-antagonistic SEA motor drive unit, the longitudinal bending quasi-antagonist VSA motor drive unit, each part will be described in detail below.

[0032] Continuum spine: two cross-shaped rigid joint bracket base sections 16 with mounting base holes, joint bracket bottom section 58 and four joint bracket middle sections 3 are fixed on ...

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Abstract

The invention belongs to the field of robots and more specifically relates to a variable stiffness quadruped bionic quadruped robot flexible continuous body spine mechanism. According to the variable stiffness quadruped bionic quadruped robot flexible continuous body spine mechanism, two pairs of driving steel cables are symmetrically placed on the two sides of the transverse direction and the longitudinal direction of cross-shaped knuckle supports fixed on a square rubber strut in an equally paced manner; a differential driving spine is bent in the horizontal or vertical direction to realize flexible bending of the spine in the horizontal or vertical direction so that the motion flexibility and motion performance of a quadruped robot are improved; by oppositely placing two specially designed elastic elements with nonlinear force-deformation characteristics on the two sides of the longitudinal direction of the spine mechanism, a linear relation is established between an adjusting variable (steel cable telescopic amount) and the stiffness of a spine within an effective stiffness adjusting range; and therefore, the accurate stiffness control ability is obtained.

Description

technical field [0001] The invention belongs to the field of robots, and more specifically relates to a flexible continuum spine mechanism of a bionic quadruped robot with variable stiffness. Background technique [0002] As an important branch of robots, quadruped robots have the incomparable motion flexibility and terrain adaptability of wheeled and tracked robots because of the redundant joint degrees of freedom and discrete footholds. With good stability and a simpler mechanism than the hexapod robot, it is a mobile robot with broad application prospects. [0003] Existing quadruped robots mainly adopt rigid spine structures. Bionics studies have found that the flexible spine of animals can improve the performance of animals in both kinematics and dynamics. In terms of kinematics, the curved and flexible spine can be considered as the extension of the legs on the spine. With the bending and expansion of the spine, the animal's movement step length is increased; in term...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 谭跃刚吴平张敏李彰
Owner WUHAN UNIV OF TECH
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