The bionic claw thorn foot comprises a claw thorn foot structure shell, the tail end of a claw thorn flexible structure is connected with a reserved square hole, located in the top of the shell, of a claw thorn foot structure cover plate, the claw thorn flexible structure is located in a reserved space in the shell, and the claw thorn flexible structure and the shell are separated through a shell partition plate. The claw thorn flexible structure has internal skeleton constraint, the interior adopts a rigid structure, the exterior adopts a flexible structure, the front end of the flexible structure is a rigid structure, and the internal rigid structure is wrapped in the flexible structure; the rear end is of an n-shaped flexible structure, parameterized structural design can be achieved, and a gap is reserved between the rear end and an internal rigid structure. By means of the design, the tangential rigidity and the normal rigidity of the claw thorn foot are effectively designed in a separated mode.

    本发明公开了一种具有内骨骼约束的仿生爪刺足,包括爪刺足结构外壳,爪刺柔顺结构尾端与爪刺足结构盖板位于外壳顶部预留方孔进行连接,爪刺柔顺结构位于外壳内部预留空间内,之间通过外壳隔板隔开。爪刺柔顺结构具有内骨骼约束,其内部采用刚性结构,外部为柔顺结构,柔顺结构前端为刚性结构,将内部刚性结构包裹其中;后端为“几”字形的柔性结构,可以实现参数化结构设计,与内部刚性结构间留有间隙。此种设计有效的将爪刺足的切向刚度和法向刚度分开设计。


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    Title :

    Bionic claw thorn foot with endoskeleton constraint


    Additional title:

    具有内骨骼约束的仿生爪刺足


    Contributors:
    LIU YANWEI (author) / ZHOU QIANG (author) / WANG HAO (author) / LI PENGYANG (author) / LI YAN (author)

    Publication date :

    2022-05-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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