Variable configuration biomimetic quadruped robot

Abstract

The invention discloses a variable configuration biomimetic quadruped robot and belongs to the field of robotics, theory of mechanism, and bionics. A physical mechanical structure of the variable configuration biomimetic quadruped robot includes four biomimetic one leg structures and a main body. Each biomimetic one leg structure includes four degrees of freedom, that is to say, includes four joints of the first hip joint, the second hip joint, the thigh joint and the shank joint. The first hip joint is directly connected with the main body, and the joint rotation shaft of the first hip jointis perpendicular to the main body plane. The first hip joint is combined with the thigh joint and the shank joint to move so that the processing state like insect crawling can be achieved. The secondhip joint is connected with the first hip joint, and the joint rotation shaft is in parallel with the main body plane. The second hip joint is combined with the thigh joint and the shank joint to moveso that the processing state like mammalian walking can be achieved. According to the variable configuration biomimetic quadruped robot, two processing states of insect crawling and mammalian walkingcan be switched freely; the structure is not complex, so that higher function requirements can be achieved, and higher environmental adaptability can be achieved.

Description

technical field [0001] The invention belongs to the fields of robotics, mechanism, bionics and the like, and relates to a configuration-changing bionic quadruped robot, which has two configurations of a mammal type and an insect animal type that can be switched freely. Background technique [0002] Multi-legged walking robot is an important branch in the field of modern robotics, and it can be generally divided into biped robot, quadruped robot and hexapod robot according to the number of legs. Compared with wheeled robots and tracked robots, multi-legged walking robots have strong terrain adaptability and movement flexibility due to their discontinuous support characteristics. Compared with biped robots, quadruped robots have better carrying capacity and stability, and are simpler in structure and easier to control than hexapod robots. From an engineering perspective, quadruped robots are the best form of legged robots in terms of comprehensive research and development cos...

AI Technical Summary

Problems solved by technology

Therefore, its advantages are large support area, low center of gravity, and good stability. The disadvantages are low load capacity and poor movement flexibility.

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