Four-legged bionic robot with waist adopting eight-rod metamorphic mechanism, and driving method thereof

Abstract

The invention discloses a four-legged bionic robot with the waist adopting an eight-rod metamorphic mechanism, and a driving method thereof. The four-legged bionic robot comprises a robot body and legs; the robot body is the eight-rod metamorphic mechanism and comprises eight hinge pairs which are sequentially connected to form a closed loop, wherein the rotating axes of the fifth hinge pair, thesixth hinge pair and the second hinge pair are mutually parallel; the rotating axes of the seventh hinge pair, the eighth hinge pair and the fourth hinge pair are mutually parallel; the rotating axesof both the fifth hinge pair and the eighth hinge pair are perpendicular to the rotating axis of the first hinge pair; and the rotating axes of both the sixth hinge pair and the seventh hinge pair areperpendicular to the rotating axis of the second hinge pair. The eight-rod metamorphic mechanism is applied to the waist of the four-legged bionic robot, the structural state and the degree of freedom of the metamorphic mechanism are changed in the movement process through different driving modes, the configuration of the waist is changed, the waist can be folded in the left-right direction, thusthe waist structures of various animals can be better imitated, and the bionic effect of various kinds of animals is achieved.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a quadruped bionic robot using an eight-bar metamorphic mechanism at the waist and a driving method thereof. Background technique [0002] The multi-legged bionic robot has a simple and flexible mechanism, strong carrying capacity, and good stability. It can not only walk on complex unstructured roads, easily cross larger obstacles (such as ditches, rocks, etc.), but also can walk with a dynamic gait. Achieve fast movement. Multi-legged bionic robots can replace humans to complete many dangerous operations, and have broad application prospects in the fields of military, mining, nuclear energy industry, planetary exploration, fire rescue, construction, agriculture and forestry logging, teaching and entertainment. [0003] However, when traditional multi-legged bionic robots imitate animals, most of the attention is focused on the leg structure, but not much attention is usu...

AI Technical Summary

Problems solved by technology

Its disadvantages are: 1) The waist is not movable, it only plays the role of support and loading platform, and has no effect on the movement and posture of the robot

2) The waist of the multi-legged bionic robot’s rigid structure cannot change its shape, and the relative positions of the legs of the robot remain unchanged. The robot can only realize walking, running, obstacle avoidance and turning by changing the posture of the legs. The motion and adaptability of the bionic robot have no effect, and the rigid waist structure greatly limits the overall working space and flexibility of the robot

3) The rigid waist of the multi-legged bionic robot greatly limits the adjustment performance of the robot to its own center of gravity, making the stability margin of the robot walking very small, there is a critical stable state in the gait, and the walking process is unstable

4) In terms of gait planning, bionic robots with rigid waists have limited gait, and cannot achieve movements similar to those of animals, such as bowing up and down, raising the waist, and twisting the waist

5) The rigid waist cannot play the role of buffering and shock absorption, and also limits the walking speed

6) Traditional bionic robots can only imitate a specific animal, and cannot imitate the forms of multiple animals at the same time

Images