The invention discloses a variable-rigidity buffer structure and a bionic biped robot, and relates to the technical field of robots. The existing legged robot has the problems of poor impact resistance and poor terrain adaptability. The device comprises buffer elastic pieces, tendons and steering supporting assemblies, the steering supporting assemblies are installed on the legs of the robot and can deflect, and the buffer elastic pieces are installed on the steering supporting assemblies and can deflect along with the steering supporting assemblies; the tendon is connected with the buffering elastic piece and the foot of the robot and is tensioned; when the foot of the robot makes contact with the ground, the foot of the robot turns over around the ankle joint and pulls the tendon, the buffering elastic piece deforms through stretching of the tendon, and when the foot of the robot is lifted, the foot of the robot resets under rebounding of the buffering elastic piece. Along with deflection of the steering supporting assembly, the included angle between the buffering elastic piece and the tendon changes while the buffering elastic piece deflects, the resultant force in the tendon direction changes, and the rigidity of the rigidity-variable buffering structure is changed. The method is mainly used for design of robots.
一种可变刚度缓冲结构及仿生双足机器人,涉及机器人技术领域。现阶段的足式机器人存在抗冲击性能差和地形适应能力差的问题。本发明包括缓冲弹性件、肌腱和转向支撑组件,转向支撑组件安装于机器人的腿部并可偏转,缓冲弹性件安装于转向支撑组件并可随转向支撑组件偏转;肌腱连接缓冲弹性件与机器人的足部并张紧;当机器人的足部接触地面时,机器人的足部绕踝关节翻转并拉动肌腱,缓冲弹性件经由肌腱的拉伸而变形,当所述机器人的足部抬起时,机器人的足部在缓冲弹性件的回弹下复位。随转向支撑组件的偏转,缓冲弹性件偏转的同时与肌腱之间夹角角度发生改变,沿肌腱方向的合力改变,实现可变刚度缓冲结构刚度的改变。本发明主要用于机器人的设计。
Variable-rigidity buffer structure and bionic biped robot
一种可变刚度缓冲结构及仿生双足机器人
08.11.2024
Patent
Elektronische Ressource
Chinesisch
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