A variable curvature hybrid elastic buffer robot bionic lower leg and its adjustment method

Abstract

The invention provides a variable-curvature hybrid elastic buffer robot bionic shank and an adjusting method. The variable-curvature hybrid elastic buffer robot bionic shank comprises a shank connecting piece and a vibration reduction mechanism connected with the shank connecting piece, and the connecting curvature between the shank connecting piece and the vibration reduction mechanism is adjustable; and the vibration reduction mechanism is provided with a mixed elastic buffer mechanism. By means of the structural design that the connecting curvature between the shank connecting piece and thevibration reduction mechanism is adjustable, the curvature between the shank connecting piece and the vibration reduction mechanism can be adjusted according to the environment requirement, so that the larger deviation angle between the foot end stress direction and the straight line direction of a shank connecting rod is reduced, and the extra movement torque needing to be borne by the shank isreduced; besides, by adopting the mixed elastic buffer mechanism, the problem that the vibration reduction effect of a spring is difficult to adjust by a single spring vibration reduction mechanism according to the weight of the spring vibration reduction mechanism is solved, so that the support walking task on the rugged road surface can be well completed.

Description

technical field [0001] The invention relates to the field of structural design of legged robots, in particular to a variable-curvature hybrid elastic buffer robot bionic lower leg and an adjustment method. Background technique [0002] On the vast land where humans live, due to the complex and changeable terrain structure, the area of ​​hills or swamps almost reaches more than half of the land area. In order to move freely in these complex landform environments, there are certain difficulties only relying on wheeled machinery. Legged robots can walk flexibly in unstructured and uneven environments such as uneven mountains, hills, swamps, jungles and other complex terrains, and then complete post-disaster rescue, Special missions such as marching material transportation, high-risk environment patrols, etc. Therefore, in the field of robotics research, there is a high degree of enthusiasm for the study of bionic legged robots. [0003] Most of the existing quadruped robots ...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned background technology, there is a large deviation angle between the force direction of the foot end and the straight line direction of the shank connecting rod, which makes the shank need to bear additional movement torque and the single spring damping mechanism is difficult to adjust the spring according to its own weight. The vibration damping effect cannot meet the problem of stable walking with vibration damping and buffering in uneven road conditions

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