The invention belongs to the field of robots, and provides a jumping robot based on the tensegrity principle and a working method thereof.The jumping robot is of a tetrahedral structure comprising four same triangular faces, first flexible elements are located on the six edges of the tetrahedral structure, and second flexible elements are located on the six edges of the tetrahedral structure; the two elastic bent rods are located in an enveloping surface formed by the tetrahedral structure, and the two elastic bent rods are connected through a second flexible element; when the tetrahedral structure touches the ground, one triangular face makes contact with the ground, and at the moment, the plane where one of the two elastic bent rods is located is perpendicular to the ground. The driving structure is used for controlling the second flexible element to contract so that the elastic bent rod can deform to store elastic potential energy, and when the elastic potential energy stored by the elastic bent rod is released instantly, the robot can jump through the counter-acting force between the tetrahedral structure and the ground.
本发明属于机器人领域,提供了一种基于张拉整体原理的跳跃机器人及其工作方法,其中,该跳跃机器人呈包含四个相同三角形面的四面体结构,第一柔性元件位于四面体结构的六条棱边,两个弹性弯杆处于四面体结构形成的包络面的内部,两个弹性弯杆通过第二柔性元件连接;当四面体结构着地时,其中一个三角形面与地面接触,此时两个弹性弯杆中的一个弹性弯杆所在平面与地面垂直;驱动结构,用于控制第二柔性元件收缩以使弹性弯杆产生形变从而储存弹性势能,当弹性弯杆储存的弹性势能瞬间释放时,通过四面体结构与地面之间的反作用力使机器人产生跳跃运动。
Jumping robot based on tensegrity principle and working method thereof
一种基于张拉整体原理的跳跃机器人及其工作方法
27.06.2023
Patent
Elektronische Ressource
Chinesisch
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