Tensioning integral bionic robot

Abstract

The utility model relates to the technical field of biomimetic robots, in particular to a tensegrity biomimetic robot which comprises a first pressing rod, a second pressing rod, a third pressing rod, a fourth pressing rod, a fifth pressing rod, a sixth pressing rod, a plurality of drivers and a controller, the controller is located in the middle of a geometry formed by the pressing rods and electrically connected with the drivers, and inhaul cable assemblies are further installed between the drivers. According to the bionic robot, various forms can be changed, and the adaptability of the bionic robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of bionic robot technology, and in particular to a tensioning integral bionic robot. Background Technology

[0002] There is a market demand for unmanned operations in complex terrains such as mountains, leading to the development of solutions such as mountain robots. Robots for mountain operations include wheeled, legged, and tracked robots. Due to the rigid connections of their components, their structure is easily damaged by bumps and collisions. Furthermore, these robots are power-intensive, generally relying on electric drives, which increases energy consumption and carrying capacity in complex terrain. Therefore, these robots have poor environmental adaptability, face challenges in endurance, and have high production and recycling costs. Currently, there is a market need for a mountain operation platform that is environmentally adaptable, has good mobility, is energy-efficient, and has controllable costs.

[0003] Tensed monolithic structures are spatial force-bearing structural systems composed of compression members and tension cables. In the past, tensile monolithic structures were generally applied in the fields of art and architecture. In recent years, scholars have been researching movable tensile monolithic structures for use in unstructured environments, such as aerospace. Among them, a six-bar tensile monolithic robot is a quasi-icosahedral spatial network structure composed of six rigid compression members and flexible tension cables. This six-bar tensile monolithic robot typically serves as a platform, moving by changing its shape, and its structural form provides resistance to impact loads. For example, in a prior application (patent number CN 108082318A) of a flexible tensile monolithic robot with six bars and thirty cables, various transformations are possible, but it remains in a three-dimensional state and cannot further change its shape. Therefore, those skilled in the art are dedicated to developing a tensile monolithic biomimetic robot capable of multiple morphological changes, thus improving the adaptability of biomimetic robots. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a tensioned integral bionic robot that can achieve multiple morphological changes and improve the adaptability of the bionic robot.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows:

[0006] A tensioned integral bionic robot, characterized in that: it includes

[0007] A first pressure rod and a first driver and a second driver installed at both ends of the first pressure rod, and a third driver is also installed in the middle of the first pressure rod;

[0008] The second pressure rod and the fourth and fifth drivers installed at both ends of the second pressure rod, and the sixth driver is also installed in the middle of the second pressure rod;

[0009] The third pressure rod and the seventh and eighth drivers installed at both ends of the third pressure rod, and the ninth driver is also installed in the middle of the third pressure rod;

[0010] The fourth pressure rod and the tenth and eleventh drivers installed at both ends of the fourth pressure rod, and the twelfth driver is also installed in the middle of the fourth pressure rod;

[0011] The fifth pressure rod and the thirteenth and fourteenth drivers installed at both ends of the fifth pressure rod, and the fifteenth driver is also installed in the middle of the fifth pressure rod;

[0012] The sixth pressure rod and the sixteenth and seventeenth actuators installed at both ends of the sixth pressure rod, and the eighteenth actuator is also installed in the middle of the sixth pressure rod;

[0013] The first pressure bar and the sixth pressure bar are parallel to each other and located on a first plane; the second pressure bar and the third pressure bar are parallel to each other and located on a second plane; the fourth pressure bar and the fifth pressure bar are parallel to each other and located on a third plane; the first plane, the second plane, and the third plane are perpendicular to each other.

[0014] It also includes a controller located in the middle of the geometry formed by each pressure bar, the controller being electrically connected to each actuator, and a cable assembly being installed between each actuator.

[0015] The beneficial effects of this utility model are: multiple pressure rods and multiple actuators installed on the pressure rods, and the controller controls the operation of each actuator to form a variety of structures.

[0016] Based on the above technical solution, the present invention can be further improved as follows.

[0017] Furthermore, the cable assembly includes

[0018] A first cable connected at both ends to the first driver and the fourth driver, respectively.

[0019] The second cable, whose two ends are respectively connected to the first driver and the thirteenth driver,

[0020] A third cable connected at both ends to the second driver and the seventh driver, respectively.

[0021] The fourth cable, which is connected at both ends to the second driver and the eleventh driver respectively,

[0022] The fifth cable, whose two ends are respectively connected to the sixteenth driver and the eighth driver,

[0023] The sixth cable, whose two ends are respectively connected to the sixteenth actuator and the fourteenth actuator,

[0024] The seventh cable, whose two ends are respectively connected to the seventeenth actuator and the fifth actuator,

[0025] The eighth cable, whose two ends are respectively connected to the seventeenth driver and the tenth driver,

[0026] The ninth cable, whose two ends are respectively connected to the fourth actuator and the thirteenth actuator,

[0027] The tenth cable, which is connected at both ends to the fifth actuator and the tenth actuator respectively,

[0028] The eleventh cable, which is connected at both ends to the seventh driver and the eleventh driver respectively,

[0029] The twelfth cable, which is connected at both ends to the eighth and fourteenth drives respectively,

[0030] The thirteenth cable, whose two ends are respectively connected to the first driver and the seventh driver,

[0031] The fourteenth cable, whose two ends are respectively connected to the first driver and the fourteenth driver,

[0032] The fifteenth cable, whose two ends are respectively connected to the second driver and the fourth driver,

[0033] The sixteenth cable, whose two ends are respectively connected to the second driver and the tenth driver,

[0034] The seventeenth cable, which is connected at both ends to the sixteenth and fifth actuators respectively,

[0035] The eighteenth cable, whose two ends are respectively connected to the sixteenth and thirteenth actuators,

[0036] The nineteenth cable, which is connected at both ends to the seventeenth and eighth actuators respectively,

[0037] The twentieth cable, whose two ends are respectively connected to the seventeenth actuator and the eleventh actuator,

[0038] The twenty-first cable, whose two ends are respectively connected to the fourth driver and the tenth driver,

[0039] The 22nd cable, which is connected at both ends to the fifth and thirteenth actuators respectively,

[0040] The 23rd cable, which is connected at both ends to the seventh and fourteenth drivers respectively,

[0041] The twenty-fourth cable, which is connected at both ends to the eighth and eleventh actuators respectively,

[0042] The twenty-fifth cable, which is connected at both ends to the third and fourth drives respectively,

[0043] The twenty-sixth cable, whose two ends are respectively connected to the sixth actuator and the tenth actuator,

[0044] The twenty-seventh cable, which is connected at both ends to the ninth and fourteenth drivers respectively,

[0045] The twenty-eighth cable, whose two ends are respectively connected to the twelfth driver and the second driver,

[0046] The 29th cable, whose two ends are respectively connected to the 15th and 16th actuators,

[0047] The thirtieth cable is connected at both ends to the eighteenth driver and the eighth driver, respectively.

[0048] The beneficial effect of adopting the above-mentioned further solution is that the driver pulls the cable, causing the pressure bar to present different mechanisms.

[0049] Furthermore, each cable includes a PLA rope and a spring.

[0050] The advantage of adopting the above-mentioned further solution is that the spring is prevented from being overstretched.

[0051] Furthermore, each actuator is also connected to a tension diaphragm.

[0052] The beneficial effect of adopting the above-mentioned further scheme is that the tension membrane increases the wind-receiving area of ​​the bionic robot.

[0053] The beneficial effects of this utility model are:

[0054] 1. Compared with the rigid connection structures of existing wheeled and legged robots used in mountain operations, the dynamic tensioned integral structure of this application has better environmental adaptability, specifically reflected in better robustness, fault tolerance, higher strength-to-mass ratio, and flexibility. This structure can buffer collisions, impacts, or loads, and can redistribute forces according to its structural topology, exhibiting good adaptability and robustness in complex terrains with large elevation differences. Furthermore, since the rods and ropes in the tensioned integral structure are interconnected and interact with each other, the damage to a single driving component has little impact on the entire structure, giving it a certain degree of fault tolerance. At the same time, the external forces and loads on this structure are decomposed through multiple paths and distributed to various nodes on the outer side, avoiding the occurrence of stress concentration nodes and exhibiting a high strength-to-mass ratio. In addition, this structure is small in size, foldable, and occupies less space during storage and transportation. Moreover, the modular design of the units means that the pressure-bearing elements in the tensioned integral structure usually have the same structure, and a large number of identical stable modules or units can be used to construct it, resulting in high flexibility.

[0055] 2. Compared to existing wheeled and legged robots used in mountain operations and ordinary tensioning robots, which rely on a single power source, this application offers two driving modes, improving mobility while reducing energy consumption and carrying capacity. The robot can achieve two motion modes: wind-driven rolling or autonomous cable-driven. In wind-driven mode, the actuator retracts the cable, compressing its volume to reduce the contact area with the wind, allowing it to stay stationary. The actuator releases the cable, restoring its three-dimensional shape and increasing the contact area with the wind, enabling it to roll forward. Due to its large size and small mass, it can move faster than with autonomous drive. In autonomous drive mode, the robot, under the control of a central control box, controls the actuator to operate, performing OC-step and CO-step gaits through cable contraction and release. The two motion modes can be combined and selected according to the environment and specific needs. By switching between stationary, wind-driven rolling, and autonomous drive states, a mountain operation platform with good environmental adaptability, adjustable stiffness, energy saving, and low cost is achieved.

[0056] 3. This application employs a cable-driven method with a single actuator, resulting in fewer actuators and better structural stability. It avoids the structural instability and collapse caused by deformation and relaxation during lever-driven operation, as well as the problem of a large number of lever-cable hybrid actuators. Compared to lever-driven operation, because the rigid cable has a constant length and is always under tension, changing the length of the lever causes the connecting ropes at both ends to maintain their original length, leading to structural deformation and relaxation, and ultimately, the loss of tension and structural collapse. In lever-cable hybrid operation, the simultaneous changes in the lever and cable result in significant structural deformation. While this is beneficial for changing the center of gravity, it makes determining the robot's direction of motion much more difficult. Furthermore, the increased number of actuators increases structural weight, reduces driving efficiency, and increases control difficulty. In contrast, the cable-driven method maintains tension regardless of how the rope length is changed, preventing structural instability. It also requires fewer actuators, simplifies control, and improves motion efficiency. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the overall perspective structure of a tensioned bionic robot according to a specific embodiment of the present invention;

[0058] Figure 2 This is a schematic diagram of a tensioned integral bionic robot structure according to a specific embodiment of the present invention. Figure 1 ;

[0059] Figure 3 This is a schematic diagram of a tensioned integral bionic robot structure according to a specific embodiment of the present invention. Figure 2 ;

[0060] Figure 4 This is a schematic diagram of a tensioned integral bionic robot structure according to a specific embodiment of the present invention. Figure 3 ;

[0061] Figure 5 This is a right view of a specific embodiment of the tensioned integral bionic robot of this utility model.

[0062] Figure 6 These are topological diagrams of Embodiment 1 and Embodiment 2 of this utility model. Detailed Implementation

[0063] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0064] In the description of this utility model, it should be understood that the terms "center", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "inner", "outer", "circumferential", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the system or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0065] In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0066] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0067] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, a tensioned integral bionic robot includes...

[0068] The first pressure rod 1 and the first driver 1a and the second driver 1b installed at both ends of the first pressure rod 1, and the third driver 1c is also installed in the middle of the first pressure rod 1;

[0069] The second pressure rod 2 and the fourth driver 2a and the fifth driver 2b installed at both ends of the second pressure rod 2, and the sixth driver 2c installed in the middle of the second pressure rod 2;

[0070] The third pressure rod 3 and the seventh driver 3a and the eighth driver 3b installed at both ends of the third pressure rod 3, and the ninth driver 3c is also installed in the middle of the third pressure rod 3;

[0071] The fourth pressure rod 4 and the tenth driver 4a and eleventh driver 4b installed at both ends of the fourth pressure rod 4, and the twelfth driver 4c is also installed in the middle of the fourth pressure rod 4;

[0072] The fifth pressure rod 5 and the thirteenth driver 5a and fourteenth driver 5b installed at both ends of the fifth pressure rod 5, and the fifteenth driver 5c is also installed in the middle of the fifth pressure rod 5;

[0073] The sixth pressure rod 6 and the sixteenth actuator 6a and seventeenth actuator 6b installed at both ends of the sixth pressure rod 6, and the eighteenth actuator 6c is also installed in the middle of the sixth pressure rod 6;

[0074] The first pressure bar 1 and the sixth pressure bar 6 are parallel to each other and located on the first plane; the second pressure bar 2 and the third pressure bar 3 are parallel to each other and located on the second plane; the fourth pressure bar 4 and the fifth pressure bar 5 are parallel to each other and located on the third plane; the first plane, the second plane and the third plane are perpendicular to each other.

[0075] It also includes a controller 7, which is located in the middle of the geometry formed by each pressure bar. The controller 7 is electrically connected to each driver, and a cable assembly is also installed between each driver.

[0076] Specifically, the cable assembly includes a first cable s1 connected at both ends to the first driver 1a and the fourth driver 2a respectively; a second cable s2 connected at both ends to the first driver 1a and the thirteenth driver 5a respectively; a third cable s3 connected at both ends to the second driver 1b and the seventh driver 3a respectively; a fourth cable s4 connected at both ends to the second driver 1b and the eleventh driver 4b respectively; a fifth cable s5 connected at both ends to the sixteenth driver 6a and the eighth driver 3b respectively; a sixth cable s6 connected at both ends to the sixteenth driver 6a and the fourteenth driver 5b respectively; a seventh cable s7 connected at both ends to the seventeenth driver 6b and the fifth driver 2b respectively; and a fourth cable s7 connected at both ends to the seventeenth driver 6b and the tenth driver 4a respectively. The eighth cable S8 is connected to drive a, the ninth cable S9 is connected to drive 4A and drive 5A at both ends, the tenth cable S10 is connected to drive 5B and drive 4A at both ends, the eleventh cable S11 is connected to drive 7A and drive 11B at both ends, the twelfth cable S12 is connected to drive 8B and drive 5B at both ends, the thirteenth cable S13 is connected to drive 1A and drive 7A at both ends, the fourteenth cable S14 is connected to drive 1A and drive 14B at both ends, the fifteenth cable S15 is connected to drive 2B and drive 4A at both ends, and the cable S16 is connected to drive 2B and drive 4A at both ends. The sixteenth cable s16 is connected to the tenth driver 4a; the seventeenth cable s17 is connected to the sixteenth driver 6a and the fifth driver 2b at both ends; the eighteenth cable s18 is connected to the sixteenth driver 6a and the thirteenth driver 5a at both ends; the nineteenth cable s19 is connected to the seventeenth driver 6b and the eighth driver 3b at both ends; the twentieth cable s20 is connected to the seventeenth driver 6b and the eleventh driver 4b at both ends; the twenty-first cable s21 is connected to the fourth driver 2a and the tenth driver 4a at both ends; the twenty-second cable s22 is connected to the fifth driver 2b and the thirteenth driver 5a at both ends; and the cable s22 is connected to the seventh driver 3a and the fourteenth driver 5b at both ends. The twenty-third cable s23, the twenty-fourth cable s24 connected at both ends to the eighth driver 3b and the eleventh driver 4b respectively, the twenty-fifth cable s25 connected at both ends to the third driver 1c and the fourth driver 2a respectively, the twenty-sixth cable s26 connected at both ends to the sixth driver 2c and the tenth driver 4a respectively, the twenty-seventh cable s27 connected at both ends to the ninth driver 3c and the fourteenth driver 5b respectively, the twenty-eighth cable s28 connected at both ends to the twelfth driver 4c and the second driver 1b respectively, the twenty-ninth cable s29 connected at both ends to the fifteenth driver 5c and the sixteenth driver 6a respectively, and the thirtieth cable s30 connected at both ends to the eighteenth driver 6c and the eighth driver 3b respectively.

[0077] Each cable includes a PLA rope and a spring, and each cable is fitted with a guide sleeve. Each actuator is also connected to a tension diaphragm 8. Specifically, the actuator mainly includes a power unit assembly and a winding drum assembly installed at the output end of the power unit assembly. The controller 7 controls the rotation of the power unit assembly to drive the winding drum assembly to rotate, thereby realizing the extension or shortening of the cable. The power unit assembly and the winding drum assembly are installed inside the actuator housing. The tension diaphragm 8 is connected to the actuator housing. The tension diaphragm 8 hardly undergoes any deformation during the switching between flat and three-dimensional modes of the bionic robot. Example 1

[0078] OC-step structure

[0079] like Figure 6 As shown, the robot's rolling direction is determined by the rotation direction of the pressure bar, which serves as the rotation axis. This means the robot can rotate around any one of the three sides of the base triangle. Different rotation axes result in different rolling directions. Therefore, a single rolling gait of a biomimetic robot has three potential motion directions. When the initial stable state is based on an open isosceles triangle, the robot can rotate to two adjacent closed equilateral triangles through a single rolling gait, thus generating an OC-step, as shown in the table below:

[0080]

[0081] Table 1 OC-step driving strategy Example 2

[0082] CO-step structure

[0083] like Figure 6 As shown, when the movement starts from a closed equilateral triangle as the base triangle, the robot can rotate to three adjacent open isosceles triangles through a rolling gait, thus generating a CO-step as shown in the table below.

[0084]

[0085] Table 2 CO-step driving strategies

[0086] Examples 1 and 2 can be further illustrated as follows:

[0087] Wind-driven: Operated by the actuators at the central nodes, this device can roll or stop using wind power by changing its shape. By operating the actuators at all the central nodes to contract or release the length of the cables, the robot can switch between flat and three-dimensional states. When the actuators at the central nodes rotate clockwise, the connected cables are tightened, and the robot compresses into a flat state, reducing its contact area with the wind and remaining stationary. Subsequently, when the actuators at the central nodes rotate counterclockwise, the connected cables are released, and the robot returns to a three-dimensional state, increasing the contact area between the tension membrane and the wind, allowing it to roll under wind pressure.

[0088] Autonomous drive: The robot can roll forward autonomously by pulling cables through the actuators at the end nodes, and only a single actuator is required, making control simple.

[0089] When the robot is in its initial stable state, all drive cables are fully extended. Once the rotation axis is determined, the movement begins. Some actuators shorten the length of their corresponding drive cables, causing a certain pressure bar, which acts as the roll axis, to rotate. This causes the structure to deform and break its self-balancing state. The ground projection of the structure's center of mass shifts away from the ground, thus driving the structure to roll. Once the structure lands and stabilizes, the actuators reverse and release the cables to their original length, restoring the icosahedral-like balanced structure. This completes one step of the roll motion.

[0090] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0091] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A tensioned integral bionic robot, characterized in that: include The first pressure rod (1) and the first driver (1a) and the second driver (1b) installed at both ends of the first pressure rod (1), and the third driver (1c) is also installed in the middle of the first pressure rod (1). The second pressure rod (2) and the fourth driver (2a) and the fifth driver (2b) installed at both ends of the second pressure rod (2), and the sixth driver (2c) is also installed in the middle of the second pressure rod (2); The third pressure rod (3) and the seventh driver (3a) and the eighth driver (3b) installed at both ends of the third pressure rod (3), and the ninth driver (3c) is also installed in the middle of the third pressure rod (3). The fourth pressure rod (4) and the tenth driver (4a) and eleventh driver (4b) installed at both ends of the fourth pressure rod (4), and the twelfth driver (4c) is also installed in the middle of the fourth pressure rod (4). The fifth pressure rod (5) and the thirteenth driver (5a) and the fourteenth driver (5b) installed at both ends of the fifth pressure rod (5), and the fifteenth driver (5c) is also installed in the middle of the fifth pressure rod (5); The sixth pressure rod (6) and the sixteenth driver (6a) and the seventeenth driver (6b) installed at both ends of the sixth pressure rod (6), and the eighteenth driver (6c) is also installed in the middle of the sixth pressure rod (6); The first pressure bar (1) and the sixth pressure bar (6) are parallel to each other and located on the first plane, the second pressure bar (2) and the third pressure bar (3) are parallel to each other and located on the second plane, the fourth pressure bar (4) and the fifth pressure bar (5) are parallel to each other and located on the third plane, and the first plane, the second plane and the third plane are perpendicular to each other; It also includes a controller (7) located in the middle of the geometry formed by each pressure bar, the controller (7) being electrically connected to each driver, and a cable assembly being installed between each driver.

2. The tensioned integral bionic robot according to claim 1, characterized in that: The cable assembly includes A first cable (s1) is connected at both ends to the first driver (1a) and the fourth driver (2a) respectively. The second cable (s2) is connected at both ends to the first driver (1a) and the thirteenth driver (5a) respectively. The third cable (s3) is connected at both ends to the second driver (1b) and the seventh driver (3a) respectively. The fourth cable (s4) is connected at both ends to the second driver (1b) and the eleventh driver (4b) respectively. The fifth cable (s5) is connected at both ends to the sixteenth actuator (6a) and the eighth actuator (3b) respectively. The sixth cable (s6) is connected at both ends to the sixteenth actuator (6a) and the fourteenth actuator (5b) respectively. The seventh cable (s7) is connected at both ends to the seventeenth actuator (6b) and the fifth actuator (2b), respectively. The eighth cable (s8) is connected at both ends to the seventeenth driver (6b) and the tenth driver (4a) respectively. The ninth cable (s9) is connected at both ends to the fourth actuator (2a) and the thirteenth actuator (5a) respectively. The tenth cable (s10) is connected at both ends to the fifth actuator (2b) and the tenth actuator (4a) respectively. The eleventh cable (s11) is connected at both ends to the seventh actuator (3a) and the eleventh actuator (4b) respectively. The twelfth cable (s12) is connected at both ends to the eighth driver (3b) and the fourteenth driver (5b) respectively. The thirteenth cable (s13) is connected at both ends to the first driver (1a) and the seventh driver (3a) respectively. The fourteenth cable (s14) is connected at both ends to the first driver (1a) and the fourteenth driver (5b), respectively. The fifteenth cable (s15) is connected at both ends to the second driver (1b) and the fourth driver (2a) respectively. The sixteenth cable (s16) is connected at both ends to the second driver (1b) and the tenth driver (4a) respectively. The seventeenth cable (s17) is connected at both ends to the sixteenth actuator (6a) and the fifth actuator (2b) respectively. The eighteenth cable (s18) is connected at both ends to the sixteenth actuator (6a) and the thirteenth actuator (5a) respectively. The nineteenth cable (s19) is connected at both ends to the seventeenth actuator (6b) and the eighth actuator (3b) respectively. The twentieth cable (s20) is connected at both ends to the seventeenth actuator (6b) and the eleventh actuator (4b) respectively. The twenty-first cable (s21) is connected at both ends to the fourth driver (2a) and the tenth driver (4a) respectively. The 22nd cable (s22) is connected at both ends to the fifth actuator (2b) and the thirteenth actuator (5a) respectively. The twenty-third cable (s23) is connected at both ends to the seventh driver (3a) and the fourteenth driver (5b) respectively. The twenty-fourth cable (s24) is connected at both ends to the eighth driver (3b) and the eleventh driver (4b) respectively. The twenty-fifth cable (s25) is connected at both ends to the third driver (1c) and the fourth driver (2a) respectively. The twenty-sixth cable (s26) is connected at both ends to the sixth actuator (2c) and the tenth actuator (4a) respectively. The twenty-seventh cable (s27) is connected at both ends to the ninth driver (3c) and the fourteenth driver (5b) respectively. The twenty-eighth cable (s28) is connected at both ends to the twelfth driver (4c) and the second driver (1b) respectively. The twenty-ninth cable (s29) is connected at both ends to the fifteenth driver (5c) and the sixteenth driver (6a) respectively. The thirtieth cable (s30) is connected at both ends to the eighteenth actuator (6c) and the eighth actuator (3b), respectively.

3. The tensioned integral bionic robot according to claim 2, characterized in that: Each cable includes a PLA rope and a spring.

4. The tensioned integral bionic robot according to claim 1, characterized in that: Each actuator is also connected to a tension diaphragm (8).

Images