A Crawling-Jumping Integrated Tensegrity Robot and Its Working Method

Abstract

The present invention belongs to the field of robots, and provides a crawling-jumping tensegrity robot and its working method. Among them, the crawling module adopts a tensegrity configuration composed of multiple elastic elements and multiple rigid compression bars. The rigid compression bars include a rigid compression bar assembly located on the central axis of the structure for driving the jumping motion, and multiple rigid compression bar assemblies that are telescopically movable and evenly distributed around the central axis in an inclined manner; by adjusting the lengths of the driving compression bars according to certain rules, the center of gravity of the tensegrity configuration can be changed so as to generate a crawling motion; the jumping module is mainly composed of multiple highly elastic elements that can be bent under pressure and a jumping driving mechanism. Under the action of the driving mechanism, the elastic elements are bent and deformed to store elastic potential energy, and the stored elastic potential energy is released instantaneously. The robot is bounced up by the force between the elastic elements and the ground, thereby realizing the jumping motion.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and in particular relates to a crawling-jumping integrated tensegrity robot and a working method thereof. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Existing robots can be broadly categorized as rigid robots and soft robots. Rigid robots, currently widely used in production and daily life, offer advantages such as mature technology, high speed, high precision, and strong load capacity. However, they suffer from poor flexibility, environmental adaptability, and safety when interacting with humans and the external environment. Soft robots have the opposite characteristics of rigid robots. Furthermore, the internal resonance and coupling of flexible materials pose significant challenges to precise control and place higher demands on manufacturing technology.

[0004] Currently, most tensegrity robots adopt a structure that is approximately spherical, which enables rolling motion. However, the rolling speed and efficiency are low, and the obstacle-crossing and climbing capabilities are poor. They cannot achieve crawling and jumping motions at the same time. After landing, existing robots need to adjust their posture to squeeze people before they can continue crawling or jumping motions, resulting in low motion efficiency. Summary of the Invention

[0005] In order to solve at least one technical problem existing in the above-mentioned background technology, the first aspect of the present invention provides a crawling-jumping integrated tensegrity robot, which consists of a crawling module located in the middle, jumping modules located on both sides and a corresponding driving mechanism; by adjusting the length of the driving pressure rod according to certain rules, the center of gravity of the tensegrity configuration can be changed to generate a crawling motion; the jumping module is mainly composed of a plurality of highly elastic elements that can be compressed to produce bending deformation and a jumping driving mechanism. Under the action of the driving mechanism, the elastic elements bend and deform to store elastic potential energy, and the stored elastic potential energy is released instantly, and the robot is bounced up by using the force between the elastic elements and the ground, thereby realizing jumping motion.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A crawling-jumping integrated tensegrity robot, comprising a crawling module in the middle, jumping modules on both sides, and a jumping drive mechanism;

[0008] The crawling module includes a plurality of driving rod assemblies; the plurality of driving rod assemblies include a first driving rod assembly located on the central axis and a plurality of second driving rod assemblies that are evenly distributed and tilted around the central axis and can move telescopically;

[0009] Each jumping module includes a plurality of elastic bent rods and connecting members. One end of the plurality of elastic bent rods is fixed to the connecting member, and the other end is movably connected to the second driving press rod assembly;

[0010] The crawling module is used to adjust the length of the second driving press rod assembly through the telescopic movement of a plurality of second driving press rod assemblies so as to change the center of gravity of the robot and generate a crawling movement;

[0011] A jumping driving mechanism is arranged on the first driving press rod assembly. The jumping driving mechanism is used to change the axial dimension and radial dimension of the crawling module by changing the length between the two end points of the first driving press rod assembly. At the same time, the elastic bent rod deforms to store elastic potential energy. When the elastic potential energy stored in the elastic bent rod is instantaneously released, the robot generates a jumping movement through the reaction force between the robot and the ground.

[0012] To solve at least one of the technical problems existing in the above background technology, the second aspect of the present invention provides a working method for a crawling-jumping integrated tensegrity robot. By adjusting the length of the driving press rod according to certain rules, the center of gravity of the tensegrity configuration can be changed to generate a crawling movement; the jumping module mainly consists of a plurality of highly elastic elements that can be compressed to generate bending deformation and a jumping driving mechanism. Under the action of the driving mechanism, the elastic elements bend and deform to store elastic potential energy, and the stored elastic potential energy is instantaneously released. The robot is bounced up by the force between the elastic elements and the ground, thereby realizing the jumping movement.

[0013] To achieve the above object, the present invention adopts the following technical solutions:

[0014] A working method for a crawling-jumping integrated tensegrity robot includes:

[0015] When the robot is on the ground, one end of the second driving press rod assembly contacts the ground to form a stable supporting triangle;

[0016] When changing the length of the second driving press rod assembly that does not contact the ground, the center of gravity of the robot will move outside the triangle formed by the end points of the driving press rod in contact with the ground, causing the position of the robot to change and transferring from one stable state to another stable state to realize the ground crawling movement;

[0017] Using the jumping driving mechanism to change the length between the two end points of the first driving press rod assembly to change the axial dimension and radial dimension of the crawling module. At the same time, the elastic bent rod deforms to store elastic potential energy. When the deformation of the elastic bent rod reaches a certain degree and enters the release state, and the elastic potential energy stored in the elastic bent rod is instantaneously released, the robot generates a jumping movement through the reaction force between the robot and the ground.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] By adjusting the length of the driving lever according to certain rules, the present invention can change the center of gravity of the tensegrity configuration so as to generate a crawling motion; the jumping driving mechanism is used to change the length between the two end points of the first driving lever assembly to change the axial dimension and radial dimension of the crawling module, and at the same time, the elastic bent rod deforms to store elastic potential energy. When the deformation of the elastic bent rod reaches a certain degree and enters the release state, when the elastic potential energy stored in the elastic bent rod is instantaneously released, the robot generates a jumping motion through the reaction force between the robot and the ground. The present invention can simultaneously realize crawling and jumping motions, and has good maneuverability. (2) The tensegrity robot of the present invention is composed of lightweight rigid rods and elastic elements, has a very light mass, good flexibility, and strong impact resistance;

[0020] (3) The two sides of the robot of the present invention are hemispherical, and the overall envelope surface is capsule-shaped. After the robot jumps and lands in any posture, the crawling module in the middle of the robot will contact the ground, and it can continue to perform crawling motion or jumping motion without adjusting the posture, thereby improving the motion efficiency.

[0021] (4) The use of high-elastic elements in the jumping module of the present invention realizes the integrated design of structure and function, which can not only realize the jumping function, but also provide high flexibility for the robot by using the elasticity of the components.

[0022] The advantages of the additional aspects of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. Description of the Drawings

[0023] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0024] Figure 1 It is a schematic diagram of the overall structure of the crawling-jumping integrated tensegrity robot according to an embodiment of the present invention;

[0025] Figure 2 It is a schematic diagram of the structure of the crawling module according to an embodiment of the present invention;

[0026] Figure 3(a) - Figure 3(c) It is a schematic diagram of the observation of the structure of the crawling module according to an embodiment of the present invention from different angles;

[0027] Figure 4 It is a schematic diagram of the jumping module according to an embodiment of the present invention;

[0028] Figure 5 It is a schematic diagram of the first driving lever assembly according to an embodiment of the present invention;

[0029] Figure 6 is the overall structural schematic diagram of the jumping driving mechanism according to an embodiment of the present invention;

[0030] Figure 7 is the partial structural schematic diagram of the jumping driving mechanism according to an embodiment of the present invention;

[0031] Figure 8 is the first deformation schematic diagram of the crawling module structure according to an embodiment of the present invention;

[0032] Figure 9 is the second deformation schematic diagram of the crawling module structure according to an embodiment of the present invention.

[0033] Among them, 1 - crawling module; 101 - first driving pressure rod assembly; 1011 - telescopic rod; 1012 - cylinder barrel; 1013 - tension spring; 102 - second driving pressure rod assembly; 103 - first elastic element; 104 - second elastic element; 2 - jumping module; 3 - jumping driving mechanism; 301 - pulley bracket; 302 - pulley; 303 - pulley pin shaft; 304 - fixed arm; 305 - fixed plate; 306 - motor; 307 - motor output shaft; 308 - steel wire rope; 309 - movable arm; 310 - first pin shaft; 311 - torsion spring; 312 - second pin shaft; 313 - fixed wedge block; 314 - pulley housing; 315 - movable wedge block; 4 - elastic bent rod; 5 - connecting piece. Specific embodiments

[0034] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanations of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0036] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0037] In the present invention, terms such as "connected" and "connected" should be understood in a broad sense, which may mean a fixed connection, an integral connection or a detachable connection; it may be directly connected or indirectly connected through an intermediate medium. For those skilled in the relevant scientific research or technology in this field, the specific meanings of the above terms in the present invention can be determined according to specific circumstances, and should not be construed as a limitation to the present invention.

[0038] Tensegrity structure: A self - supporting and self - stressing space grid structure composed of a group of discontinuous rigid compression members and a group of continuous flexible tension members. The unique structural form enables the tensegrity structure to retain both the load - bearing capacity of rigid members and the deformation ability of flexible members, combining the advantages of rigid and soft structures. It is widely used in the fields of architecture and structural engineering and has gradually gained the favor of researchers in the field of robotics in recent years.

[0039] Embodiment 1

[0040] Refer to Figure 1 , a crawling - jumping integrated tensegrity robot in this embodiment includes:

[0041] A crawling module 1 in the middle, jumping modules 2 on both sides, and corresponding jumping drive mechanisms 3;

[0042] The crawling module 1 includes a plurality of elastic elements and a plurality of drive strut assemblies; the plurality of drive strut assemblies are connected by elastic elements;

[0043] See Figure 2 , specifically, the plurality of drive strut assemblies include a first drive strut assembly 101 on the central axis and a plurality of second drive strut assemblies 102 that are telescopically movable and evenly distributed obliquely around the central axis;

[0044] As Figure 3(a) - Figure 3(c) shown, both ends of the first drive strut assembly 101 are movably connected to the second drive strut assemblies 102 through a plurality of first elastic elements 103, and the plurality of drive strut assemblies 102 are movably connected end - to - end through second elastic elements 104.

[0045] In this embodiment, the number of the elastic elements can be 15, and the number of the drive strut assemblies can be 6, including one first drive strut assembly and five second drive strut assemblies. The number of the first elastic elements and the second elastic elements is the same and can be 5.

[0046] All the elastic elements bear tension, and the second drive strut assemblies bear pressure. The length of the second drive struts can be adjusted. Specifically, the struts can adopt various forms of linear motion drive devices such as electric push rods, air cylinders, and hydraulic cylinders.

[0047] In this embodiment, the elastic elements can be ropes with good elasticity or tension springs, etc.

[0048] The movement principle of the robot's crawling is as follows: By adjusting the length of the drive struts according to certain rules, the center of gravity of the tensegrity configuration can be changed to generate a crawling motion;

[0049] like Figure 8 - Figure 9 As shown, when the robot is on the ground, one end of the three second drive lever assemblies 102 contacts the ground, forming a stable support triangle. When the creep module drives the two second drive lever assemblies 102 that are not in contact with the ground to extend, the center of gravity moves outside the triangle formed by the endpoints of the three second drive lever assemblies 102 in contact with the ground, causing the robot to change position, shifting from one stable state to another. This allows the robot to achieve creeping motion on the ground.

[0050] like Figure 4 As shown, the jumping modules 2 on both sides are hemispherical, and the overall outer envelope is capsule-shaped. A plurality of elastic bent rods 4 are distributed on the outer envelope of each hemispherical shape. One end of the plurality of elastic bent rods 4 is fixed to the connecting member 5, and the other end is movably connected to the second driving pressure rod assembly 102;

[0051] In this embodiment, the elastic bent rods 4 can be made of highly elastic materials such as spring steel or carbon fiber, and the number of the elastic bent rods 4 can be five.

[0052] like Figure 5 As shown, the jumping drive mechanism 3 is arranged on the first driving pressure rod assembly 101, and the first driving pressure rod assembly 101 includes a telescopic rod 1011 and a cylinder 1012. The telescopic rod 1011 and the cylinder 1012 are slidingly connected. A tension spring 1013 is arranged in the cylinder 1012, and one end of the tension spring 1013 is fixedly connected to the cylinder 1012, and the other end is fixedly connected to the telescopic rod 1011.

[0053] like Figure 6 - Figure 7 As shown, the jumping drive mechanism 3 includes a pulley bracket 301, a pulley 302, a pulley pin 303, a fixed arm 304, a fixed plate 305, a motor 306, a motor output shaft 307 and a steel wire rope 308;

[0054] A pulley bracket 301 is fixed to the telescopic rod 1011. A pulley 302 is rotatably connected to the pulley bracket 301 via a pulley pin 303. A fixed arm 304 is provided on the cylinder 1012. A fixed plate 305 is fixed to the fixed arm 304. A motor 306 is fixedly connected to the fixed plate 305. The motor 306 and the motor output shaft 307 are integrally formed. One end of a steel wire rope 308 is connected to the motor output shaft 307. The other end of the steel wire rope 308 is connected to the motor output shaft 307. The other end of the steel wire rope 308 is wound around the pulley 302 for a half turn (180 degrees) and then fixedly connected to the telescopic rod 1011. When the motor output shaft 307 rotates, the steel wire rope 308 is wound around the output shaft.

[0055] The jumping drive mechanism 3 further includes a movable arm 309, a first pin 310, a torsion spring 311, a second pin 312, a fixed wedge 313 and a pulley cover 314;

[0056] One end of the movable arm 309 is rotatably connected to the fixed arm 304 through a first pin shaft 310. A torsion spring 311 is installed on the first pin shaft 310, and the arm angle of the torsion spring 311 is 180°. That is to say, when the torsion spring 311 is not stressed, the included angle between the movable arm 309 and the fixed arm 304 is 180°.

[0057] One end of the fixed wedge 313 is fixedly connected to the fixed plate 305, and the other end is in the shape of a tapered wedge.

[0058] The pulley housing 314 covers the pulley 302 and is fixedly connected to the telescopic rod 1011. The pulley housing 314 can prevent the steel wire rope from disengaging from the pulley 302.

[0059] The movable wedge 315 is fixedly connected to the steel wire rope 308.

[0060] The jump driving mechanism 3 has two working states, namely the locking state and the release state.

[0061] In the locking state, one end of the movable arm 309 is hooked by the fixed wedge 313, and the torsion spring 311 is compressed and deformed until the angle between the movable arm 309 and the fixed arm 304 is 90°. In this state, when the motor output shaft 307 rotates, the steel wire rope 308 is driven to be wound around the motor output shaft 307 (the steel wire rope 308 just passes through the gap between the second pin shaft 312 and the fixed wedge 313). The telescopic rod 1011 extends out of the cylinder under the pulling force of the steel wire rope 308, that is, the length between the two end points of the first driving pressure rod assembly 101 of the crawling module in the middle of the robot increases. At this time, the axial dimension of the crawling module increases and the radial dimension decreases, as Figure 5 shown. At the same time, all the elastic bent rods on both sides of the robot will continue to generate bending deformation, and elastic potential energy will be stored during the bending deformation process.

[0062] As the motor 306 rotates, the movable wedge 315 fixedly connected to the steel wire rope 308 gradually approaches one end of the motor output shaft 307. Then the movable wedge 315 will contact the fixed wedge 313 and gradually push the fixed wedge 313 away, so that the fixed wedge 313 is disengaged from the movable arm 309. At this time, the movable arm 309 will bounce under the action of the torsion spring 311, which means that the jump driving mechanism enters the release state. In this state, the steel wire rope 308 on the motor output shaft will fall off the motor output shaft 307 due to the loss of restraint.

[0063] Principle of the robot's jumping motion: In the initial stable state, the jumping drive mechanism is in a locked state. The motor rotates continuously, driving the telescopic rod to extend from the cylinder barrel, increasing the axial dimension and decreasing the radial dimension of the middle crawling module. At the same time, the elastic bent rod is compressed and deformed to store elastic potential energy. When the length of the steel wire rope is contracted to a certain extent, the jumping drive mechanism is triggered to enter the release state, and the elastic potential energy stored in the elastic bent rod will be released instantaneously. Through the reaction force between the robot and the ground, the entire robot generates a jumping motion.

[0064] In summary, the present invention has the advantages of simple structure, light weight, good flexibility, high safety, and continuous jumping, and has broad application prospects in the fields of robots and the like.

[0065] Embodiment 2

[0066] Based on the same inventive concept, this embodiment provides a working method of a crawling-jumping integrated tensegrity robot corresponding to a crawling-jumping integrated tensegrity robot. Since the principle of solving problems in the device in this embodiment of the present invention is similar to the above method in Embodiment 1, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0067] This embodiment provides a working method of a crawling-jumping integrated tensegrity robot, which specifically includes:

[0068] When the robot is on the ground, one end of the second drive strut assembly contacts the ground to form a stable support triangle;

[0069] By changing the length of the second drive strut assembly that does not contact the ground, the center of gravity of the robot will move outside the triangle formed by the endpoints of the drive struts in contact with the ground, causing the position of the robot to change and transferring from one stable state to another stable state to achieve ground crawling motion;

[0070] Using the jumping drive mechanism to change the length between the two endpoints of the first drive strut assembly to change the axial dimension and radial dimension of the crawling module, and at the same time the elastic bent rod deforms to store elastic potential energy. When the deformation of the elastic bent rod reaches a certain extent and enters the release state, when the elastic potential energy stored in the elastic bent rod is released instantaneously, the robot generates a jumping motion through the reaction force between the robot and the ground.

[0071] The use of the jumping drive mechanism to change the length between the two endpoints of the first drive strut assembly to change the axial dimension and radial dimension of the crawling module, and at the same time the elastic bent rod deforms to store elastic potential energy, specifically includes:

[0072] One end of the movable arm is hooked by the fixed wedge, and the torsion spring is compressed and deformed, changing the angle between the movable arm and the fixed arm. In this state, when the motor output shaft rotates, the wire rope is driven to be wound around the motor output shaft, and the telescopic rod extends out of the cylinder under the action of the wire rope tension. At this time, the axial dimension of the crawling module increases and the radial dimension decreases. At the same time, all the elastic bent rods on both sides of the robot continue to generate bending deformation, and elastic potential energy will be stored during the bending deformation process.

[0073] When the deformation of the elastic bent rod reaches a certain degree and enters the release state, it specifically includes:

[0074] After the motor rotates for a certain time, the movable wedge contacts the fixed wedge and gradually pushes the fixed wedge open, so that the fixed wedge is disengaged from the movable arm. At this time, the movable arm bounces off under the action of the torsion spring and enters the release state. In this state, the wire rope on the motor output shaft will fall off the output shaft due to the loss of restraint.

[0075] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A crawling-hopping integrated tensegrity robot, characterized in that, It includes a crawling module located in the middle, jumping modules located on both sides, and a jumping driving mechanism; The crawling module includes a plurality of driving pressure rod assemblies; the plurality of driving pressure rod assemblies include a first driving pressure rod assembly located on the central axis and a plurality of second driving pressure rod assemblies that are telescopically movable and evenly distributed around the central axis in an inclined manner; Each jumping module includes a plurality of elastic bent rods and connecting pieces. One ends of the plurality of elastic bent rods are fixed to the connecting pieces, and the other ends are movably connected to the second driving pressure rod assemblies; The crawling module is used to adjust the length of the second driving pressure rod assemblies through the telescopic movement of the plurality of second driving pressure rod assemblies so that the center of gravity of the robot changes to generate a crawling movement; A jumping driving mechanism is arranged on the first driving pressure rod assembly. The jumping driving mechanism is used to change the axial dimension and radial dimension of the crawling module by changing the length between the two end points of the first driving pressure rod assembly. At the same time, the elastic bent rods are deformed to store elastic potential energy. When the elastic potential energy stored in the elastic bent rods is instantaneously released, the robot generates a jumping movement through the reaction force between the robot and the ground; The crawling module further includes a plurality of elastic elements. Both ends of the first driving pressure rod assembly are movably connected to the second driving pressure rod assemblies through a plurality of first elastic elements, and the plurality of second driving pressure rod assemblies are movably connected end to end through second elastic elements.

2. The integrated crawling-hopping tensegrity robot according to claim 1, characterized in that, The jumping module is hemispherical, and the overall outer envelope surface is capsule-shaped. A plurality of elastic bent rods are distributed on the outer envelope of each hemisphere.

3. The integrated crawling-hopping tensegrity robot according to claim 1, characterized in that, The first driving pressure rod assembly includes a telescopic rod and a cylinder barrel. The telescopic rod is slidably connected to the cylinder barrel. A tension spring is arranged in the cylinder barrel. One end of the tension spring is fixedly connected to the cylinder barrel, and the other end is fixedly connected to the telescopic rod.

4. The integrated crawling-hopping tensegrity robot according to claim 3, characterized in that The jumping driving mechanism includes a pulley bracket, a pulley, a pulley pin shaft, a fixed arm, a movable arm, a fixed plate, a motor, a motor output shaft, a steel wire rope, a first pin shaft, a torsion spring, a movable wedge block, and a fixed wedge block; The pulley bracket is fixed on the telescopic rod. The pulley is rotatably connected to the pulley bracket through the pulley pin shaft. A fixed arm is arranged on the cylinder barrel. The fixed plate is fixed on the fixed arm. The motor is fixedly connected to the fixed plate. The motor output shaft is fixedly connected to one end of the steel wire rope. The other end winds around the pulley by 180° and is fixedly connected to the telescopic rod. The movable wedge block is fixedly connected to the steel wire rope; One end of the movable arm is rotatably connected to the fixed arm through the first pin shaft. A torsion spring is installed on the first pin shaft. One end of the fixed wedge block is fixedly connected to the fixed plate, and the other end is in a conical wedge shape.

5. The integrated crawling-hopping tensegrity robot according to claim 4, characterized in that, The material of the elastic bent rod is spring steel or carbon fiber rigid elastic material.

6. The working method of a crawling-hopping integrated tensegrity robot according to claim 5, characterized in that, It includes: When the robot is on the ground, one end of the second driving pressure rod assembly contacts the ground to form a stable support triangle; When changing the length of the second driving pressure rod assembly that does not contact the ground, the center of gravity of the robot will move outside the triangle formed by the end points of the driving pressure rods in contact with the ground, causing the position of the robot to change and transferring from one stable state to another stable state to achieve ground crawling movement; The length between the two end points of the first driving pressure bar assembly is changed by using a jumping driving mechanism to change the axial dimension and the radial dimension of the crawling module. At the same time, the elastic bent rod deforms to store elastic potential energy. When the deformation of the elastic bent rod reaches a certain degree and enters the release state, when the elastic potential energy stored in the elastic bent rod is instantaneously released, the robot generates a jumping motion through the reaction force between the robot and the ground.

7. The working method of a crawling-hopping integrated tensegrity robot according to claim 6, characterized in that, The use of the jumping driving mechanism to change the length between the two end points of the first driving pressure bar assembly to change the axial dimension and the radial dimension of the crawling module, and at the same time the elastic bent rod deforms to store elastic potential energy, specifically includes: One end of the movable arm is hooked by the fixed wedge block, the torsion spring is compressed and deformed, changing the angle between the movable arm and the fixed arm. In this state, when the motor output shaft rotates, it drives the steel wire rope to be wound on the motor output shaft. The telescopic rod extends out of the cylinder under the action of the steel wire rope tension. At this time, the axial dimension of the crawling module increases and the radial dimension decreases. At the same time, all the elastic bent rods on both sides of the robot continue to generate bending deformation. During the bending deformation process, the elastic bent rod will store elastic potential energy.

8. The working method of a crawling-hopping integrated tensegrity robot according to claim 6, characterized in that, The specific situation when the deformation of the elastic bent rod reaches a certain degree and enters the release state includes: After the motor rotates for a certain time, the movable wedge block contacts the fixed wedge block and gradually pushes the fixed wedge block away, so that the fixed wedge block is separated from the movable arm. At this time, the movable arm rebounds under the action of the torsion spring and enters the release state. In this state, the steel wire rope on the motor output shaft will fall off the output shaft due to losing restraint.

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