A Flexible Continuum Spine Mechanism of Biomimetic Quadruped Robot with Variable Stiffness

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

Active Publication Date: 2022-04-19
WUHAN UNIV OF TECH
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  • Abstract
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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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  • A Flexible Continuum Spine Mechanism of Biomimetic Quadruped Robot with Variable Stiffness
  • A Flexible Continuum Spine Mechanism of Biomimetic Quadruped Robot with Variable Stiffness
  • A Flexible Continuum Spine Mechanism of Biomimetic Quadruped Robot with Variable Stiffness

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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] Such as 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 ...

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Abstract

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. In the present invention, two pairs of driving steel cables are symmetrically arranged on both lateral and longitudinal sides of the cross-shaped joint bracket fixed at equal intervals on the square rubber pillar, and the differential drive spine bends in the horizontal or vertical direction, realizing the horizontal or vertical direction of the spine. The flexible bending of the quadruped robot improves the flexibility and motion performance of the quadruped robot. By arranging two specially designed elastic elements with nonlinear force-deformation characteristics opposite to each other in the longitudinal direction of the spine mechanism, within its effective stiffness adjustment range Inside, a linear relationship is established between the adjustment variable (stretch of the steel cable) and the stiffness of the spine, and a precise stiffness control capability 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 Patents(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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