Jumping robot with controllable energy storage capacity and jumping angle

Abstract

The invention discloses a jumping robot with controllable energy storage capacity and jumping angle. The jumping robot comprises a rack, a controllable winding / unwinding unit, a jumping leg unit and aposture adjusting leg unit. The controllable winding / unwinding unit can enable the main driver to rotate in the two directions to be used for winding and unwinding the stay wire through the stay wirewheel. The jumping leg unit is positioned at the rear part of the rack and comprises two branches of the same structure, each branch is composed of a connecting plate, a supporting rod, a foot rod, ashank rod, a thigh rod and an energy storage spring, the supporting rod, the foot rod, the shank rod and the thigh rod jointly form a planar four-rod mechanism, the two ends of the energy storage spring are connected with the supporting rod and the shank rod respectively, and the energy storage spring can be stretched through the stray wire to achieve energy storage. The posture adjusting leg unit is installed at the front end of the rack and can achieve swinging of the front limb rod relative to the rack under driving of the steering engine, and therefore the jumping angle is changed. The energy storage capacity and the jumping angle can be adjusted, the bounce force has the bionic characteristic, the structure is compact, control is easy, and the mass is light.

Description

technical field [0001] The invention relates to a jumping robot, in particular to a light and small bionic jumping robot with controllable energy storage size and take-off angle. Background technique [0002] Jumping robots can be divided into non-bionic jumping robots and bionic jumping robots. Non-bionic jumping robots mainly realize jumping motion by using mechanical elastic energy, chemical release energy and field force; bionic jumping robots simulate vertebrates (such as kangaroos, night monkeys and frogs, etc.) and invertebrates (such as locusts, cicadas, fleas, and beetles, etc.) to achieve the purpose of jumping. With the deepening of research, highly bionic will be the future development trend of jumping robots. [0003] Carnegie Mellon University RAIBERT and others have developed single-legged, bipedal and quadrupedal jumping robots on the basis of the spring inverted pendulum model, and thus opened the prelude to the research of jumping robots. The planar bow-s...

AI Technical Summary

Problems solved by technology

[0004] Existing jumping robots have little research on jumping controllability, including the adjustment of jumping speed, jumping angle and jumping direction, which greatly limits the flexibility of the jumping robot's movement and the diversity of the activity space, seriously hindering its practical application

At present, there is no bionic jumping robot that can realize the autonomous adjustment of take-off speed and take-off angle at the same time.

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