Modular robot with bionic variable stiffness joint and control method thereof

By using a biomimetic variable stiffness joint mechanism, the problem of mismatch in stiffness requirements between multi-rotor robots and wall-climbing robots is solved, enabling modular robots to flexibly switch between different working modes and adapt to multiple functions, thereby improving task adaptability and work efficiency.

CN122402828APending Publication Date: 2026-07-17HARBIN INSTITUTE OF TECHNOLOGY (SHENZHEN) (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)
View PDF 0 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HARBIN INSTITUTE OF TECHNOLOGY (SHENZHEN) (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)
Filing Date
2026-06-15
Publication Date
2026-07-17

Smart Images

  • Figure CN122402828A_ABST
    Figure CN122402828A_ABST
Patent Text Reader

Abstract

本发明涉及具有仿生变刚度关节的模块化机器人，包括：机身；设置在机身的翼体机构；变刚度关节机构，包括外壳关节组件和刚度调节组件；外壳关节组件包括多个依次活动连接的外壳关节，外壳关节与机身连接，相邻两个外壳关节之间连接有弹性环；多个外壳关节穿设有牵引绳，牵引绳缩短可驱使外壳关节组件弯折；刚度调节组件包括柔性密封膜、可抽负压的气动源和变刚度节段，柔性密封膜内部与气动源连通并包覆变刚度节段，变刚度节段置于外壳关节组件内部，变刚度节段与外壳关节组件连接；多个机器人可拆卸地连接。本发明还涉及具有仿生变刚度关节的模块化机器人的控制方法，可兼具飞行、壁面适应、弯折夹持和形态调整等多种功能，属于机器人技术领域。
Need to check novelty before this filing date? Find Prior Art