The invention discloses a highly-bionic full-flexible-driving spider-imitating robot which comprises a robot body, six robot step feet and a hydraulic control system, wherein the six robot step feet are arranged on the robot body, and the hydraulic control system is connected with the six robot step feet through pipelines. The hydraulic control system is used for controlling the six robot step feet to move; the robot is highly bionic in terms of the overall structure, movement gaits, joint structures, driving principles and the like of the spiders. Particularly, the leg joint driving principle refers to a biological dynamic experiment, joints are contracted by means of a hydraulic artificial muscle rope structure, the joints are stretched by means of a hydraulic paper folding structure, and the transportation cost of the spider-imitating robot is jointly reduced by means of elastic mechanisms such as an elastic rope at a hip joint and inherent elasticity of the paper folding structure and the hydraulic system; and the excellent performance of a biological hydraulic system in nature can be efficiently reproduced.

    本发明公开了一种高度仿生的全柔性驱动仿蜘蛛机器人,包括机器人主体、六个机器人步足和液压控制系统,六个机器人步足设置在机器人主体上,液压控制系统与六个机器人步足通过管路连接,通过液压控制系统控制六个机器人步足的运动;本发明机器人针对蜘蛛整体结构、运动步态、关节结构及驱动原理等方面进行高度仿生。尤其是腿部关节驱动原理参照生物动力学实验,依靠液动人工肌肉绳索结构使关节收缩,依靠液压折纸结构使关节伸展,且髋关节处的弹力绳和折纸结构固有弹性等弹性机制和液压系统共同降低了仿蜘蛛机器人的运输成本,可高效再现自然界中生物液压系统的卓越性能。


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    Title :

    Highly-bionic full-flexible-driving spider-imitating robot


    Additional title:

    一种高度仿生的全柔性驱动仿蜘蛛机器人


    Contributors:
    HAO XIN (author) / LIU CHUNBAO (author) / REN LEI (author) / MA WENXING (author)

    Publication date :

    2021-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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