The invention discloses a metamorphic body of a multi-legged bionic robot with a flexible characteristic. The lengths of a second part, a seventh part, a third part, a sixth part, a first part, an eighth part, a fourth part and a fifth part are the same; the metamorphic body is formed by sequentially and rotatably connecting the butt-joint ends of the first to eight rods in a closed chain manner through the first and eight to two rotating hinges; when the metamorphic body is in the initial state, in the same plane, the first to fourth rods and the eighth to fifth rods are symmetrically arranged in a one-to-one correspondence mode relative to the horizontal connecting line of the second and sixth rotating hinges, the included angles between the first and second rods and the eighth and seventh rods are equal, and the included angles between the fourth and third rods and the fifth and sixth rods are equal. The first, eighth and seventh rotating hinges and the third to fifth rotating hinges are symmetrically arranged relative to the horizontal connecting line of the second and sixth rotating hinges, the axial leads of the first and third rotating hinges intersect oppositely, the fourth and eighth rotating hinges are coaxial, the axial leads of the fifth and seventh rotating hinges intersect oppositely, and the second and sixth rotating hinges are longitudinally parallel to each other and are perpendicular to other rotating hinges.
本发明公开一种具有柔性特点的多足仿生机器人的变胞躯体,第二、七,第三、六,第一、八,第四、五的长度相同;变胞躯体由第一至八杆相互之间的对接端依次分别通过第一和八至二转动铰链可转动地、闭链连接而成;变胞躯体初始状态时,在同一平面内,第一至四杆分别与第八至五杆相对于第二、六转动铰链的水平连线一一对应地对称布置,第一、二杆与第八、七杆之间,第四、三杆与第五、六杆之间的夹角相等,第一、八、七与第三至五转动铰链相对于第二、六转动铰链的水平连线对称布置,且第一、三转动铰链的轴心线相向相交,第四、八转动铰链同轴线,第五、七转动铰链的轴心线相向相交,第二、六转动铰链相互纵向平行且均与其它转动铰链垂直。
Metamorphic body of multi-legged bionic robot
一种多足仿生机器人的变胞躯体
2023-08-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |