The invention relates to the technical field of bionic robots, in particular to a multi-legged bionic robot which comprises a trunk part and a walking mechanism, the trunk part is of an annular structure formed by sequentially connecting six connecting rods end to end, and every two adjacent connecting rods in the six corresponding connecting rods of the trunk part are hinged to form a trunk joint; the rotating axes of all the trunk joints are parallel, the three trunk joints are provided with first drivers, and the trunk joints provided with the first drivers and the trunk joints not provided with the first drivers are distributed in a one-to-one staggered mode. The structure is simple, the walking step pitch can be effectively increased, and the moving speed is increased; the twisting of the trunk part can increase the adjustable range of the mass center of the multi-legged bionic robot during movement, so that the stability margin of the multi-legged bionic robot during movement can be effectively improved.

    本发明涉及仿生机器人技术领域,尤其涉及一种多足仿生机器人,包括躯干部和行走机构,所述躯干部为六个连杆依次首尾相接形成的环形结构,所述躯干部相应的六个连杆中每相邻的两个连杆之间通过铰接形成躯干关节,各躯干关节的转动轴线相平行,三个躯干关节安装有第一驱动器,安装有第一驱动器的躯干关节与未安装第一驱动器的躯干关节一一交错分布。本发明结构简单,能够有效增加行走步距,提高移动速度;躯干部的扭动能够增加多足仿生机器人质心在运动时的可调节范围,从而可有效提高多足仿生机器人运动时的稳定裕度。


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    Title :

    Multi-legged bionic robot


    Additional title:

    一种多足仿生机器人


    Contributors:
    ZHANG CHUNSONG (author) / DAI JIANSHENG (author) / CHEN JUNPENG (author) / TANG ZHAO (author)

    Publication date :

    2023-12-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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