The invention discloses a scalable robot torso and a bionic four-footed robot. The scalable robot torso comprises torso connecting rods and annular metamorphic mechanisms; two annular metamorphic mechanisms which are structurally symmetrical are connected by the torso connecting rods; each of the metamorphic mechanisms is constituted in a way that a plurality of first connecting rods are flexiblyconnected with each other in a head-to-tail mode via first connectors; second connecting rods are connected with the joints between each two first connecting rods, and only one end of each first connecting rod is connected with a second connecting rod; the second connecting rods are flexibly connected with each other via second connectors; and two second connecting rods at the central symmetricalposition of each metamorphic mechanism are connected by an elastic rod. According to the scalable robot torso and the bionic four-footed robot, the metamorphic mechanisms which are foldable and structurally symmetrical are adopted, and two metamorphic mechanisms are connected by the torso connecting rods to constitute the robot torso; each metamorphic mechanism adjusts the radial dimension of therobot torso via the elastic rod; a leg mechanism is coupled with the torso in a mode of elastic movement; and the inter-leg distance and ground clearance of the torso of the robot can be realized viascaling and deformation of the torso.
本发明公开了一种可缩放机器人躯干及仿生四足机器人,包括:躯干连杆和环形变胞机构;所述躯干连杆连接两个结构对称的环形变胞机构;所述环形变胞机构由若干个第一连杆通过第一连接件首尾活动连接构成,在每两个第一连杆的连接处连接第二连杆,且每个第一连杆只有一端与第二连杆连接,所述第二连杆之间通过第二连接件活动连接;在环形变胞机构处于中心对称位置的两个第二连杆之间连接伸缩杆。本发明采用结构对称的可折展的变胞机构,两个变胞机构通过躯干连杆连接构成机器人躯干,且每个变胞机构通过伸缩杆调整机器人躯干径向尺寸;将腿部机构与躯干伸缩运动耦合,通过躯干缩放变形,实现调节机器人的腿部间距、躯干离地高度等。
Scalable robot torso and bionic four-footed robot
一种可缩放机器人躯干及仿生四足机器人
2020-08-07
Patent
Elektronische Ressource
Chinesisch
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