Four-legged robot capable of adjusting attitude in air

Abstract

The invention designs a four-legged robot capable of adjusting the attitude in air and can be used in the attitude adjustment process of robots and spacecrafts. The four-legged robot mainly comprises two parts, which are a body and limbs. The body and the limbs are connected by hinges and the movement mode is controlled by the hinges. A flywheel with large moment of inertia is installed at the tail end of each limb of the robot, and has large moment of inertia (cannot be ignored compared with the limbs) and has a sudden stop effect, the flywheel axis and the centerline of the corresponding limb are consistent in orientation, and the flywheel axes can be orientated to different rotation directions through swing of the limbs of the robot, so as to slightly adjust the attitude of the robot; and the four limbs can be orientated to the same direction, so that the robot rotates around a particular axis. Through the design, the mass of the flywheels required for robots and spacecrafts is reduced, no additional space is needed, so that the sizes of robots and spacecrafts are decreased, and the flywheel group can be engaged in work, so that the utilization rate of the flywheels is improved.

Description

technical field [0001] The invention designs a quadruped robot that can realize attitude adjustment in the air, which can be used in the attitude adjustment process of robots and spacecraft. Background technique [0002] In recent years, the scope of application of bionic robots has been continuously expanded, and more and more researches have been conducted on bionic robots. For the current walking, jumping, climbing, and gliding robots, the movement mainly depends on contact with foreign objects such as the ground and walls, and realizes the expected movement through friction and self-power. With the complexity of the movement of bionic robots, robots The range of motion of the robot gradually expands from the two-dimensional plane to the three-dimensional space. The robot does not use external force to adjust its own motion state in the air, but adjusts the moment of inertia by changing the body posture, and leads to changes in the overall posture. This is an active adjus...

AI Technical Summary

Problems solved by technology

The above-mentioned patents use various methods to realize the attitude transformation of robots or aircraft in the air, but there are defects such as the direction of the flywheel cannot be adjusted, the mass of the flywheel is large, and the attitude adjustment speed is not fast enough.

The mass of the internal flywheel of the satellite is relatively large, and at least three flywheels in the X, Y, and Z directions are required to form a flywheel set, which occupies a large volume, which is not conducive to the operation and rapid attitude adjustment of the satellite, and the direction of the flywheel set cannot be moved. If the flywheel group rotates rapidly around a certain axis, the flywheel group cannot be fully put into work; if the mechanism is rotated by the swing of the limbs, there is a possibility of limb interference

A search of existing patented technologies has not found a robot that can completely overcome the above-mentioned problems

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