The invention belongs to the field of robots, and provides a crawling-jumping integrated tensegrity robot and a working method of the crawling-jumping integrated tensegrity robot. A tensegrity structure composed of a plurality of elastic elements and a plurality of rigid pressing rods is adopted for a crawling module; the rigid pressing rod comprises two rigid pressing rod assemblies which are located on the central axis of the structure and used for driving jumping motion and a plurality of rigid pressing rod assemblies which are obliquely and evenly distributed around the central axis and can do telescopic motion. The length of the driving pressing rod is adjusted according to a certain rule, so that the gravity center of the tensegrity structure can be changed to generate creeping motion; the jumping module is mainly composed of a plurality of high-elasticity elements and a jumping driving mechanism, the high-elasticity elements can be pressed to generate bending deformation, under the action of the driving mechanism, the elastic elements are bent and deformed to store elastic potential energy, the stored elastic potential energy is released instantly, the robot is bounced through the acting force between the elastic elements and the ground, and therefore jumping motion is achieved.

    本发明属于机器人领域,提供了一种爬行‑跳跃一体张拉整体机器人及其工作方法,其中,爬行模块采用一种由多个弹性元件与多个刚性压杆组成的张拉整体构型,刚性压杆中包括个位于结构中轴线上的用于驱动跳跃运动的刚性压杆组件,以及多个绕中轴线倾斜均布的可伸缩运动的刚性压杆组件;通过按照一定的规则调整驱动压杆的长度,能够使张拉整体构型的重心发生变化以致产生爬行运动;跳跃模块主要由多个能够受压产生弯曲变形的高弹性元件和跳跃驱动机构组成,在驱动机构作用下,弹性元件弯曲变形储存弹性势能,将储存的弹性势能在瞬间释放,利用弹性元件和地面之间的作用力将机器人弹起,从而实现跳跃运动。


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    Title :

    Crawling-jumping integrated tensegrity robot and working method thereof


    Additional title:

    一种爬行-跳跃一体张拉整体机器人及其工作方法


    Contributors:
    LIU YIXIANG (author) / DAI XIAOLIN (author) / WANG YANHONG (author) / SONG RUI (author) / LI YIBIN (author)

    Publication date :

    2023-07-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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