Foot mechanism of torobot

Abstract

The invention provides a soft ground adaptive foot mechanism of a torobot, and relates to a hexapod bionic robot, in particular to a foot mechanism of a hexapod bionic robot. The foot mechanism has the advantages of large contact area, no relative slip and high ground adaptivity on account of the unevenly distributed soft ground with low supporting rigidity, and can ensure that parameter adjustment is carried out according to the specific condition of the ground so as to achieve the optimum service performance. In the mechanism, an upper connector (2) is connected with a robot body through four screws; two ends of a bearing (2) are fixed to add rotational freedom for the mechanism; six light holes of a connecting plate (6) are evenly distributed circumferentially and are in clearance fit with a cylinder on the top end of a foot bottom so as to guide the foot bottom; an adjusting screw (5) is used for adjusting the sliding trip range of the foot bottom; and a spring (7) acts between the connecting plate (6) and the foot bottom (8) so as to buffer impact between the foot mechanism and the ground, and the spring stiffness is adjusted to adapt to different environment.

Description

technical field [0001] The invention relates to a hexapod bionic robot. In particular, the invention relates to the foot mechanism of a hexapod robot, which has the advantages of large contact area and high ground adaptability for soft ground with low support stiffness and uneven distribution. At the same time, the mechanism can adjust the parameters according to the specific conditions of the ground to make it have the best performance. technical background [0002] As an important part of the bionic robot, the hexapod robot has good environmental adaptability in the complex and unknown unstructured working environment due to its flexible, stable, and discontinuously supported motion characteristics. Compared with wheeled or tracked machinery, hexapod robots have better locomotion performance in hills and swamps covering more than 50% of the earth's land surface. As one of the key components of a hexapod robot, the design of the foot mechanism has a major impact on the ov...

AI Technical Summary

Problems solved by technology

This type of mechanism has the following disadvantages: 1) the contact between the sole and the ground is a point contact, the contact area is small, and the wear resistance is poor

2) Considering the polydactyly of animals in nature, this kind of mechanism is too simplified and the performance loss is serious

3) On unstructured surfaces, especially on soft and uneven surfaces, the ellipsoidal soles have weak adaptability and low contact reliability

Due to the above shortcomings, the existing mechanism has a certain limitation on the performance of the legged robot. It is necessary to design a high-performance foot mechanism to meet the needs of the development of legged robot technology.

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