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A bionic jumping leg using pneumatic tandem elastic joints

A technology of series elasticity and joints, applied in the field of bionic robots, can solve problems such as difficulty in obtaining jumping performance, lack of landing energy storage structure, high peak power, etc., achieve excellent jumping performance, achieve lightweight, and avoid weakening effects

Active Publication Date: 2022-08-05
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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  • A bionic jumping leg using pneumatic tandem elastic joints
  • A bionic jumping leg using pneumatic tandem elastic joints
  • A bionic jumping leg using pneumatic tandem 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, which is composed of a hip joint module I, a knee joint module II, and a pneumatic series elastic ankle joint module III, characterized in that: the hip joint module I, the knee joint module II, the pneumatic joint module I The series elastic ankle joint module III is hinged in sequence from top to bottom. There are 4 pneumatic artificial muscles 11, 17, 36, 66 or 52 driving 3 joints to rotate, and angular displacement sensors are arranged at the 3 active joints respectively.

[0037]This embodiment adopts a 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 the first embodiment, and the special features are as follows:

[0040] The pneumatic series elastic ankle joint module III includes a lower tibia support 56, an upper metatarsal support 58, a foot support 63, an ankle pneumatic artificial muscle 66, an ankle joint spring 60, an ankle joint return spring 64, an ankle joint pulley 54, an ankle joint The angular displacement sensor 57, the ankle joint pulley angular displacement sensor 70, the bionic jumping leg calf carbon tube 67, the ankle joint pneumatic artificial muscle 66 are connected to the ankle joint spring 60 through the wire rope 53 bypassing the ankle joint pulley 54, forming a series elastic drive, driving the ankle joint Joint extension movement; the sole of the foot includes a foot end bracket 63, a metatarsal upper bracket 58 and two sole carbon tubes 61, 62, the two sole carbon tubes 61, 62 are arranged in parallel to form the sole of the foot, and one side of the...

Embodiment 3

[0045] like figure 1 As shown, a bionic jumping leg using pneumatic series elastic joints includes 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 hinged from top to bottom; the rotation axes of the hip joint, knee joint, and ankle joint are parallel to the three axes; the skeletal structure of the bionic jumping leg is fixed by a lightweight hollow rod and a resin bracket, which ensures the structural strength while ensuring the structural strength. , 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 bone lightweight hollow rod. The hip joint, knee joint and ankle joint are in The resin support structure is provided with a minimum limit structure.

[0046] like figure 2 As shown, the hip joint module 1 is composed of...

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PUM

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Abstract

The invention discloses a bionic jumping leg using pneumatic series elastic joints. joint; wherein: the hip joint module adopts 2 pneumatic artificial muscles to form an antagonistic drive, and the length of the driving force arm and the joint rotation range are adjusted through the hip joint muscle force arm adjustment mechanism; the knee joint module is composed of 1 pneumatic artificial muscle and It is composed of a return spring; the ankle joint module adopts a pneumatic artificial muscle in series with a high-rigidity elastic element to form a pneumatic series elastic joint. The invention adopts a lightweight hollow rod as the skeleton of the bionic jumping leg, has the advantages of compact structure, impact resistance, elastic energy storage, light weight, miniaturization and the like, and can effectively improve the jumping performance of the bionic jumping leg.

Description

technical field [0001] The invention belongs to the field of bionic robots, and in particular relates to a bionic jumping leg using pneumatic series elastic joints. Background technique [0002] The research of bionic robots is developing from low speed to high speed. Among them, bionic jumping robots have attracted the attention of many scholars due to their superior ability to adapt to complex terrain. . [0003] At present, the bionic legged robots developed at home and abroad are mostly driven by motors, hydraulic cylinders, air cylinders, and pneumatic artificial muscles. 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 applied to bionic jumping robots due to their advantages such as flexibility and high power density. [0004] The jumping motion of the legged bionic jumping robot belongs to discrete single-po...

Claims

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Application Information

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Patent Type & Authority Patents(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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