Bionic leg of Jansen connecting rod structure robot and bionic scorpion type hexapod robot
A technology of hexapod robot and connecting rod structure, which is applied in the field of robotics to achieve the effect of reducing weight
Pending Publication Date: 2022-07-29
NANJING INST OF TECH
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[0003] However, there are still some shortcomings in the bionic leg mechanism of the existing Jansen linkage mechanism, so it is necessary to optimize the bionic leg structure of the Jansen linkage mechanism to improve the stability of the structure
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[0037] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
[0038] like Figure 1-3 , 7, this application designs a bionic leg of a Jansen link structure robot, and the structure of the bionic leg includes:
[0039] The triangular connecting rod 5 is provided with connecting holes at each vertex of the triangular connecting rod 5, which are respectively a first connecting hole 5-1, a second connecting hole 5-2, and a third connecting hole 5-3.
[0040] The first connecting hole 5-1 is connected with one end of the first connecting rod 1, and the other end of the first connecting rod 1 is connected with one end of the crank 2 and one end of the sec...
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The invention discloses a bionic leg of a Jansen connecting rod structure robot and a bionic scorpion type hexapod robot. Each bionic leg structure comprises a triangular connecting rod, a first connecting rod hinged to one vertex of the triangular connecting rod, a third connecting rod hinged to one vertex of the triangular connecting rod, a fourth connecting rod hinged to one vertex of the triangular connecting rod, and a second connecting rod hinged to the third connecting rod and the first connecting rod. The upper foot end rod piece is hinged to the third connecting rod and the fourth connecting rod, the lower foot end rod piece is arranged on the lower portion of the upper foot end rod piece, one end of the lower foot end rod piece is hinged to one end of the upper foot end rod piece, and the other end of the lower foot end rod piece is connected with the other end of the upper foot end rod piece through a foot end damping rigid spring; the bionic scorpion type hexapod robot is designed on the basis of the bionic legs. According to the bionic leg structure, the stability of the robot can be improved through the optimal design of the bionic leg structure.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a bionic leg of a Jansen link structure robot and a bionic scorpion-type hexapod robot. Background technique [0002] The bionic leg mechanism (Jansen-leg) designed by the famous Dutch kinetic sculpture artist Theo Jansen and the beach wind machine "Wind Beast" developed based on this mechanism using environmentally friendly materials have attracted widespread attention. The mechanism is simple in control, efficient in walking, coordinated in motion and good in bionics, and has attracted the attention of many scholars in the field of bionic robots since it was proposed. Therefore, the mechanism design and control of the bionic leg based on the Jansen linkage mechanism has become a research hotspot in the field of bionic robots in recent years. [0003] However, there are still some deficiencies in the bionic leg mechanism of the existing Jansen linkage mechanism, so it is necessa...
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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 耿冉冉金雷浩黄家才刘汉忠朱晓春沈玉鑫邹逸然黄嘉昕季强张佳豪
Owner NANJING INST OF TECH