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Bionic jumping leg adopting pneumatic series elastic joints

A series of elastic and joint technology, applied in the field of bionic robots, can solve the problems of difficult to obtain jumping performance, lack of ground energy storage structure, high peak power, etc., to achieve excellent jumping performance, achieve lightweight, and avoid weakening effects.

Active Publication Date: 2021-04-02
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The kinematic joints of existing bionic legged jumping robots are difficult to output a large peak power, and lack an effective landing energy storage structure, making it difficult to obtain good jumping performance

Method used

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  • Bionic jumping leg adopting pneumatic series elastic joints
  • Bionic jumping leg adopting pneumatic series elastic joints
  • Bionic jumping leg adopting pneumatic series elastic joints

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] see Figure 1 to Figure 6 , a bionic jumping leg using pneumatic series elastic joints, composed of hip joint module I, knee joint module II, pneumatic series elastic ankle joint module III, characterized in that: the hip joint module I, knee joint module II, pneumatic The series elastic ankle joint module III is articulated sequentially from top to bottom, in which there are 4 pneumatic artificial muscles 11, 17, 36, 66 or 52 to drive 3 joints to rotate, and angular displacement sensors are installed at the 3 active joints respectively.

[0037]This embodiment adopts the bionic jumping leg with pneumatic series elastic joints, which has the advantages of compact structure, impact resistance, elastic energy storage, light weight and miniaturization.

Embodiment 2

[0039] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0040] The pneumatic series elastic ankle joint module III includes tibial lower bracket 56, metatarsal upper bracket 58, foot end bracket 63, ankle joint pneumatic artificial muscle 66, ankle joint spring 60, ankle joint return spring 64, ankle joint pulley 54, ankle joint Angular displacement sensor 57, ankle joint pulley angular displacement sensor 70 and bionic jumping leg calf carbon tube 67, ankle joint pneumatic artificial muscle 66 bypasses ankle joint pulley 54 through steel wire rope 53 and connects ankle joint spring 60 to form a series elastic driver to drive the ankle Joint stretching exercise; the sole of the foot includes a foot end support 63, a support on the metatarsal bone 58, and two sole carbon tubes 61, 62, and the two sole carbon tubes 61, 62 are arranged in parallel to form the sole of the sole, and an ankle joint spring 60 is equipped on one side of ...

Embodiment 3

[0045] Such as figure 1 As shown, a bionic jumping leg using pneumatic series elastic joints, including hip joint module I, knee joint module II, pneumatic series elastic ankle joint module III; hip joint module I, knee joint module II, pneumatic series elastic ankle joint module III is articulated sequentially from top to bottom; the rotation axes of the hip joint, knee joint, and ankle joint are parallel to each other; the bone structure of the bionic jumping leg is fixed by lightweight hollow rods and resin brackets, ensuring structural strength while , to make the bionic jumping leg lightweight and miniaturized, the resin bracket is connected with an axial slot, and is connected with a bolt to form an interference fit with the lightweight hollow rod of the bone, and the hip joint, knee joint, and ankle joint are in the The minimum limit structure is provided at the resin support structure.

[0046] Such as figure 2 Shown, described hip joint module 1 is made of support ...

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Abstract

The invention discloses a bionic jumping leg adopting pneumatic series elastic joints, which consists of a hip joint module, a knee joint module and a pneumatic series elastic ankle joint module whichare sequentially connected from top to bottom, and three active joints are driven by four pneumatic artificial muscles; wherein the hip joint module adopts two pneumatic artificial muscles to form antagonistic driving, and the length of a driving force arm and the rotation range of a joint are adjusted through a hip joint muscle force arm adjusting mechanism; the knee joint module is composed ofa pneumatic artificial muscle and a return spring; the ankle joint module is connected with a high-rigidity elastic element in series through a pneumatic artificial muscle to form a pneumatic series elastic joint. According to the bionic jumping leg, the light hollow rod pieces are adopted as a framework of the bionic jumping leg, the bionic jumping leg has the advantages of compact structure, impact resistance, elastic energy storage, light weight, miniaturization and the like, and the jumping performance of the bionic jumping leg can be effectively improved.

Description

technical field [0001] The invention belongs to the field of bionic robots, in particular to a bionic jumping leg adopting pneumatic series elastic joints. Background technique [0002] The research on bionic robots is developing from low speed to high speed. Among them, the bionic jumping robot has attracted the attention of many scholars due to its superior ability to adapt to complex terrain. The bionic jumping robot is gradually developing in the direction of light weight and miniaturization to obtain better jumping performance. . [0003] At present, the bionic legged robots developed at home and abroad mostly use motors, hydraulic cylinders, air cylinders, pneumatic artificial muscles and other driving methods. Motor, hydraulic and other driving methods are difficult to apply to lightweight and miniaturized bionic jumping robots due to their disadvantages in size and weight. Pneumatic artificial muscles are gradually being used in bionic jumping robots due to their fl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
CPCB62D57/02
Inventor 雷静桃沈双张悦文苏红升
Owner SHANGHAI UNIV
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