The invention provides a bionic lander mechanism, which comprises a main body and four landing legs, the main body is provided with a track device, an inspection device, an inspection vehicle and a propeller, the four landing legs are connected to the lower end surface of the main body through hip joints, and each landing leg comprises a thigh part, a knee joint, a shank part and a foot end part which are hinged in sequence; the hip joint comprises a first hinged joint, a first torsion spring, a first encoder and a first motor driver, and the knee joint comprises a second hinged joint, a second torsion spring, a second encoder and a second motor driver; the foot end part comprises a foot end base, an ankle joint, a hoof box, a sole and a third torsion spring. The robot has self-adaptability, the joint driving bending moment can output the responding joint bending moment according to the responding joint angle, so that the elastic potential energy in the structure is counteracted, and the robot can land under various complex ground conditions.
本发明提供了一种仿生着陆器机构,包括主体和四条着陆腿,主体上设置轨道器、巡视器、巡视车和推进器,四条着陆腿均通过髋关节连接在主体下端面上,着陆腿包括依次铰接的大腿部、膝关节、小腿部和足端部;髋关节包括第一铰接关节、第一扭力弹簧、第一编码器和第一电机驱动器,膝关节包括第二铰接关节、第二扭力弹簧、第二编码器和第二电机驱动器;足端部包括足端基座、踝关节、蹄匣、足掌和第三扭力弹簧。本发明具备自适应性,关节驱动弯矩可以根据响应的关节角输出响应的关节弯矩,从而抵消掉结构内的弹性势能,可以于多种复杂地况情况下着陆。
Bionic lander mechanism
一种仿生着陆器机构
2024-03-29
Patent
Electronic Resource
Chinese
IPC: | B64G Raumfahrt , COSMONAUTICS |
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