The invention relates to a bionic quadruped robot comprising four leg mechanisms connected with a trunk and a plurality of head-tail structure units, each leg mechanism provides six degrees of freedom, each head-tail structure unit provides two degrees of freedom, and the head-tail structure units are sequentially connected according to flexibility requirements to simulate connection of the neck and the tail with the trunk. On the basis of bionics, all parallel mechanisms are adopted for structural design, and compared with a series structure, higher bearing capacity is achieved, so that higher safety is achieved; through reasonable structural design, all driving pairs of the mechanical dinosaur are guaranteed to be moving pairs, and sufficient power and strength are guaranteed through hydraulic cylinder driving; the relative poses and sizes of the leg mechanisms and the head and tail structure units refer to the size of the dinosaur fossil recovery model, so that the posture of the dinosaur can be better simulated; the head and tail structure units of the mechanism pose can be selected and combined according to the required motion flexibility, so that the structure is simplified.
一种仿生四足机器人,包括:与躯干连接的四个腿部机构和多个头尾结构单元,其中:每个腿部机构提供六个自由度,每个头尾结构单元提供两个自由度,根据灵活度需要顺次连接头尾结构单元以模拟颈部和尾部与躯干连接。本发明基于仿生学,全部采用并联机构进行结构设计,相比串联结构有更强的承载能力,因此具有更好的安全性;通过合理的结构设计,保证机械恐龙所有的驱动副均为移动副,采用液压缸驱动保证充足的动力和强度;腿部机构和头尾结构单元的相对位姿和尺寸均参考了恐龙化石的复原模型尺寸,可以更好地模仿恐龙的体态;机构位姿头尾结构单元可以根据所需的运动灵活度选取并组合,简化了结构。
Bionic quadruped robot
仿生四足机器人
2021-02-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |