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.
本发明公开了一种Jansen连杆结构机器人仿生腿及仿生蝎式六足机器人,仿生腿结构包括由三角连杆、与三角连杆的一个顶点铰接的第一连杆、与三角连杆的一个顶点铰接的第三连杆、与三角连杆的一个顶点铰接的第四连杆、分别与第三连杆和第一连杆铰接的第二连杆、分别与第三连杆和第四连杆铰接的上足端杆件,以及设置在上足端杆件下部的下足端杆件,下足端杆件的一端与上足端杆件一端铰接,下足端杆件的另一端通过足端减震刚簧连接上足端杆件的另一端连接;基于上述仿生腿设计出的仿生蝎式六足机器人;本申请通过对仿生腿结构的优化设计,能够提高机器人的平稳性。
Bionic leg of Jansen connecting rod structure robot and bionic scorpion type hexapod robot
一种Jansen连杆结构机器人仿生腿及仿生蝎式六足机器人
2022-07-29
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Robot bionic leg structure with Jansen connecting rod structure
Europäisches Patentamt | 2022
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