The invention provides an under-actuated flexible double-foot jumping robot which comprises a robot body and a flexible leg structure, the flexible leg structure is arranged on the robot body and comprises a hip, a thigh, a shank and a foot, one end of the hip is connected with the robot body, the other end of the hip is connected with the thigh, and the other end of the hip is connected with the foot. One end of each shank is connected with the corresponding thigh, and the other end of each shank is connected with the corresponding foot. The stepping motor is adopted as a driving source of the robot, the driving force is large, and the response speed is high; a spring and a rope in the leg structure simulate the muscle effect, the spring can play a role in buffering and damping when the robot falls to the ground and can also achieve the energy storage and release function, and the energy utilization efficiency of the robot is improved; the biped robot drives the balancing weight installed on the linear motor through the linear motor in the main body, and the gravity center position of the biped robot is adjusted, so that the robot can obtain a stable posture in the moving process.

    本发明提供一种欠驱动的柔性双足跳跃机器人,包括机器人主体和柔性腿部结构,所述柔性腿部结构设置在所述机器人主体上,所述柔性腿部结构包括髋部、大腿、小腿以及足部,所述髋部的一端与所述机器人主体连接,另一端与所述大腿连接,所述小腿的一端与所述大腿连接,另一端与所述足部连接。本发明采用步进电机作为机器人的驱动源,驱动力大且响应速度快;腿部结构中的弹簧和索模拟肌肉作用,弹簧不仅能够在机器人落地时起到缓冲减震的作用,而且还可实现储放能功能,提高了机器人的能量利用效率;双足机器人通过主体中的直线电机带动安装在其上的配重块,调整双足机器人重心位置,使得机器人能够在运动过程中获得稳定的姿态。


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    Title :

    Under-actuated flexible double-foot jumping robot


    Additional title:

    一种欠驱动的柔性双足跳跃机器人


    Contributors:

    Publication date :

    2023-12-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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