The flexible quadruped robot with the discrete spine comprises the spine and four parallel elastic legs and feet, the spine comprises a spine box body, two spine rotating joints hinged to the spine box body at a certain interval and two SEA modules arranged in the spine box body, and each SEA module comprises a rotating driving motor and a second elastic energy accumulator; an output shaft of the rotation driving motor, the second elastic energy accumulator and the spine rotation joints are sequentially connected, the four parallel elastic legs and feet are distributed at the four corners of the spine box in a rectangular shape, and every two parallel elastic legs and feet are hinged to one spine rotation joint at a certain interval. A first elastic energy accumulator is arranged on each parallel elastic leg foot, and a sole is arranged at the bottom of each parallel elastic leg foot. According to the robot, the running posture of a hunting leopard is imitated, the serial elastic drivers are adopted to drive the spine rotating joints to move, the parallel elastic drivers are combined to drive the legs and the feet to move, and the robot has the flexibility of a biological structure and can adapt to complex and changeable scenes.
本发明提供一种具有离散型脊柱的柔性四足机器人,包括脊柱和四条并联弹性腿足,脊柱包括脊柱箱体、在脊柱箱体上间隔一定距离铰接的两个脊柱转动关节和设在脊柱箱体内的两个SEA模块,每一SEA模块包括转动驱动电机和第二弹性蓄能器,转动驱动电机的输出轴、第二弹性蓄能器、脊柱转动关节依次相连,四条并联弹性腿足呈矩形分布设在脊柱箱体四角,每两条并联弹性腿足间隔一定距离铰接在一个脊柱转动关节上,每一并联弹性腿足上设有第一弹性蓄能器且底部设有足底。本发明仿照猎豹的奔跑时的姿态,采用串联弹性驱动器带动脊柱转动关节运动,结合并联弹性驱动器驱动腿足运动,更加具备生物结构的柔顺性,能够适应复杂多变的场景。
Flexible quadruped robot with discrete spine
一种具有离散型脊柱的柔性四足机器人
2023-11-24
Patent
Electronic Resource
Chinese
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