The invention discloses a bionic foot and a multi-foot insect bionic robot thereof, and belongs to the technical field of bionic robots, the bionic foot comprises a supporting foot and a driving mechanism, and the driving mechanism comprises a leg swinging assembly and a leg lifting assembly; the swing leg assembly comprises a swing leg hinge piece, a swing leg electromagnetic actuator, a swing leg rigid metal piece and an elastic reset piece. The two ends of the swing leg rigid metal piece are connected with the swing leg hinge piece and the movable part of the swing leg electromagnetic actuator. The leg lifting assembly comprises a leg lifting hinge piece, a leg lifting electromagnetic actuator and a leg lifting rigid metal piece, the supporting foot is fixed to the leg lifting hinge piece, and the leg lifting rigid metal piece is connected with a movable part of the leg lifting electromagnetic actuator. The bionic robot comprises a bionic body, and a plurality of pairs of bionic feet are arranged on the bionic body. The two-degree-of-freedom bionic foot with the leg lifting function and the leg swinging function is formed by matching the electromagnetic actuator, the rigid metal piece and all the hinge pieces according to the lever principle, and the two-degree-of-freedom bionic foot is simple and reliable in transmission mode, not complex in structure, fast in response, fast in advancing and low in noise.
本发明公开了一种仿生足及其多足昆虫仿生机器人,属于仿生机器人技术领域,仿生足包括支撑足和驱动机构,驱动机构包括摆腿组件和抬腿组件;摆腿组件包括摆腿铰接件、摆腿电磁作动器、摆腿刚性金属件以及弹性复位件,摆腿刚性金属件的两端与摆腿铰接件、摆腿电磁作动器的活动部连接;抬腿组件包括抬腿铰接件、抬腿电磁作动器和抬腿刚性金属件,支撑足固定在抬腿铰接件上,抬腿刚性金属件与抬腿电磁作动器的活动部连接。仿生机器人包括仿生躯体,仿生躯体上设置有多对仿生足。电磁作动器、刚性金属件以及各铰接件配合,利用杠杆原理,形成了具有抬腿和摆腿的二自由度的仿生足,其传动方式简单、可靠,结构不复杂,响应快、行进迅速,噪声小。
Bionic foot and multi-foot insect bionic robot thereof
一种仿生足及其多足昆虫仿生机器人
2024-02-02
Patent
Electronic Resource
Chinese