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Bionic peristaltic tensegrity robot

A tensioning whole and robot technology, applied in the field of robots, can solve the problems of heavy weight and complex robot structure, and achieve the effects of light weight, simple structure, and low processing and manufacturing costs.

Pending Publication Date: 2022-04-12
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Imitating the peristalsis of creatures such as earthworms is one of the important moving modes of existing robots. Most peristaltic robots are designed and manufactured using traditional mechanical principles and mechanical design methods, such as mechanical transmission mechanisms such as connecting rod transmission and screw transmission. Power transmission, using hinges and other methods for structural / mechanism connection, resulting in a relatively complex structure and heavy weight of the robot

Method used

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  • Bionic peristaltic tensegrity robot

Examples

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Effect test

Embodiment 1

[0031] In a typical embodiment of the present invention, such as figure 1 As shown, the bionic peristaltic tensioning overall robot disclosed in this embodiment is a two-rod four-cable tensioning unit, and the whole unit consists of 1 driving pressing bar 1, 1 arc-shaped elastic pressing bar 2 and 4 ropes (rope 3, rope 4, rope 5, rope 6), the power source for the device to advance is to drive the pressure rod 1, wherein the arc-shaped elastic pressure rod 3 is arc-shaped, and it has a first end and a second end. The pressure rod 1 is arranged along the radial direction of the arc-shaped elastic pressure rod 3. The driving pressure rod 1 also has a first end and a second end. The first end of the driving pressure rod 1 passes through the rope 3, the rope 5 and the curved elastic pressure rod. The first end and the second end of 2 are connected, and the second end of the driving pressure rod 1 is connected with the first end and the second end of the arc elastic pressure rod 2 t...

Embodiment 2

[0040] Such as Figure 6 As shown, this embodiment discloses another bionic peristaltic tensegrity robot, which differs from Embodiment 1 in that no parallelogram is formed between the four ropes, and the length of the two ropes on the left side is greater than that on the right side. The structure of the two ropes is exactly the same as in Embodiment 1, and the movement process and principle of the robot and the robot in Embodiment 1 are also completely the same, so details are not repeated here.

[0041] It is not difficult to understand that in other embodiments, the length of the two ropes on the right side may also be greater than the length of the two ropes on the left side.

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Abstract

The bionic peristaltic tensioning integrated robot comprises a two-rod four-cable tensioning unit which is sequentially connected in series, the two-rod four-cable tensioning unit comprises a driving pressing rod, an arc-shaped elastic pressing rod, a first rope, a second rope, a third rope and a fourth rope, and the arc-shaped elastic pressing rod is provided with a first end and a second end; the driving pressing rod is located on the inner side of the arc-shaped elastic pressing rod and arranged in the radius direction of the arc-shaped elastic pressing rod, the driving pressing rod is also provided with a first end and a second end, and the first end of the driving pressing rod is connected with the first end and the second end of the arc-shaped elastic pressing rod through a first rope and a second rope. The second end of the driving pressing rod is connected with the first end and the second end of an arc-shaped elastic pressing rod through a third rope and a fourth rope; the first rope, the second rope, the third rope and the fourth rope form a quadrangle, and the driving pressing rod is located on one diagonal line of the quadrangle.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a bionic peristaltic tensegrity robot. Background technique [0002] Imitating the peristalsis of creatures such as earthworms is one of the important moving modes of existing robots. Most peristaltic robots are designed and manufactured using traditional mechanical principles and mechanical design methods, such as mechanical transmission mechanisms such as connecting rod transmission and screw transmission. For power transmission, the structure / mechanism is connected by means of hinges, etc., resulting in a relatively complex structure and heavy weight of the robot. Contents of the invention [0003] Aiming at the problems existing in the existing peristaltic robots, the present invention proposes a tensegrity robot with simple structure and light weight that can realize bionic peristalsis. [0004] In order to achieve the above object, the present invention is achieved thro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/10
Inventor 刘义祥毕庆代孝林王喆宋锐李贻斌
Owner SHANDONG UNIV
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