The invention relates to an active adhesion and desorption variable-rigidity self-adaptive gecko-like leg, a robot and a method, and belongs to the technical field of robot application. The variable-rigidity self-adaptive gecko-like leg is mainly characterized by comprising a bionic foot sole (10). The bionic foot sole (10) comprises a wire pulling steering engine (11), a wire pulling steering engine upper end fixing piece (12), a wire pulling steering engine lower end fixing piece (13), a rotary supporting frame (14), a rotary flange (15), a ball head (16), a ball joint upper cover (17) and afoot sole fixing piece (18), and also comprises N foot sole units uniformly arranged on a circle of the foot sole fixing piece (18) and having the same structure; wherein N is a natural number from 3to 9. The self-adaptive gecko-like leg and the robot have active adhesion and desorption movement functions, meet the self-adaptive requirement of the space surface, and can be applied to the structural design of a micro-miniature adhesion foot type robot.

    本发明涉及一种主动粘脱附的变刚度自适应仿壁虎腿及机器人与方法,属于机器人应用技术领域。该变刚度自适应仿壁虎腿主要特点在于其仿生脚掌(10)。上述仿生脚掌(10)包括:牵线舵机(11)、牵线舵机上端固定件(12)、牵线舵机下端固定件(13)、旋转支撑架(14)、旋转法兰(15)、球头(16)、球关节上盖(17)、脚掌固定件(18);还包括均匀布置于脚掌固定件(18)一圈的N个结构相同的脚掌单元;其中N为3‑9的自然数。本发明的自适应仿壁虎腿及机器人具有主动粘附和脱附运动功能、满足空间表面自适应要求,可应用于微小型粘附足式机器人结构设计中。


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    Title :

    Active adhesion and desorption variable-rigidity self-adaptive gecko-like leg, robot and method


    Additional title:

    主动粘脱附的变刚度自适应仿壁虎腿及机器人与方法


    Contributors:
    GUAN LIN (author) / LIU QI (author) / YANG XIANYI (author)

    Publication date :

    2020-07-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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