The invention belongs to the field of robots, and discloses a bionic leg bouncing robot based on a pneumatic soft driver, which comprises a bionic hip joint unit, a bionic knee joint unit and a bionic ankle joint unit, the bottom of the bionic unit is fixedly connected with and penetrates through the middle side fixing plate, the end, penetrating through the middle side fixing plate, of the bionic unit is rotatably connected with the top of the bionic tibia, the bottom of the bionic tibia is rotatably connected with the top of the bionic foot bone, and the front end of the bionic foot bone is rotatably connected with the bionic phalanx. According to the soft drive rigid-flexible coupling bionic mechanical leg, the rotation function is achieved on the sagittal plane, the coronal plane and the horizontal plane of a robot, rigid hinges generally existing in soft drive composite branches of an existing soft drive rigid-flexible coupling mechanism are removed, the total length proportion of soft drive in the soft drive branches is increased, and the light weight degree and the working space of the soft drive rigid-flexible coupling bionic mechanical leg are effectively improved.
本发明属于机器人领域,公开了一种基于气动软体驱动器的仿生腿弹跳机器人,包括仿生髋关节单元,仿生膝关节单元和仿生踝关节单元,仿生股骨顶部通过仿生髋关节球副连接上侧固定板,其底部固定连接并穿过中侧固定板、并且穿过中侧固定板的一端可转动的连接仿生胫骨的顶部,仿生胫骨的底部可转动的连接仿生脚骨的顶部,仿生脚骨的前端可转动的连接仿生趾骨,在三个仿生单元彼此相互配合下,在机器人矢状面、冠状面及水平面实现转动功能,去除了目前软驱动刚柔耦合机构软驱动复合分支中普遍存在的刚性铰链,提升了软驱动在软驱动分支中的总长占比,并且有效提升软驱动刚柔耦合仿生机械腿的轻量化程度及工作空间。
Bionic leg bouncing robot based on pneumatic soft body driver
一种基于气动软体驱动器的仿生腿弹跳机器人
19.09.2023
Patent
Elektronische Ressource
Chinesisch
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