CN102700648B - Adaptive deformation foot of kangaroo-simulated hopping robot - Google Patents

Adaptive deformation foot of kangaroo-simulated hopping robot Download PDF

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CN102700648B
CN102700648B CN2012101968491A CN201210196849A CN102700648B CN 102700648 B CN102700648 B CN 102700648B CN 2012101968491 A CN2012101968491 A CN 2012101968491A CN 201210196849 A CN201210196849 A CN 201210196849A CN 102700648 B CN102700648 B CN 102700648B
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flexible
instep
curve
flexible hinge
rod
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CN102700648A (en
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葛文杰
马晓雪
李岩
赵炜
王鹏
万然
张增权
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西北工业大学
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Abstract

一种仿袋鼠跳跃机器人的自适应变形脚,曲线脚背杆位于曲线脚底杆的正上方,并且曲线脚背杆的顶端和曲线脚底杆的顶端通过第十柔性铰链连接,形成了脚尖。 Kangaroo adaptive modification of simulated robot foot, instep bar is located directly above the graph curve rod foot, the instep and the top curve and the curve to the top rod connecting rod foot, a toe is formed by a flexible hinge tenth. 曲线脚背杆的末端与框架形脚跟的一端通过第一柔性铰链连接。 One end of the heel end of the frame-shaped curve instep rod connected by a first flexible hinge. 框架形脚跟另一端的上表面与曲线脚背杆的下表面连接。 A top surface of the instep and the other end of the curve-shaped framework bar heels is connected. 在曲线脚背杆与框架形脚跟之间有内撑杆。 The curve between the rod and the frame-shaped heel instep inner struts. 柔性直杆位于框架形脚跟的顶端。 The flexible straight bar at the top of the frame-shaped heel. 柔性斜杆位于脚尖与柔性直杆之间。 The flexible rod is located between the toe ramp and the flexible straight bar. 当本发明接触地面后,脚部各柔性杆件和柔性铰链在地面反作用力的驱动下发生柔性变形并存储弹性能,从而可实现仿袋鼠跳跃机器人在跳跃过程中脚部触地后产生轮廓自适应变形,呈脚尖弯曲状态,改善了仿袋鼠跳跃机器人的跳跃性能,具有变形响应速度快、运动稳定性好的特点。 After contact with the ground of the present invention, the flexible resilient deformation can occur and stores each flexible lower foot lever and the flexible hinge driving ground reaction forces, enabling the robot to generate simulated profile kangaroo leg since touchdown during jumping adapt to the deformation, the toe was bent state, improving the performance of skip hopping Kangaroo robot, it has a fast response speed deformation, motion good stability.

Description

一种仿袋鼠跳跃机器人的自适应变形脚 One kind of kangaroo-hopping adaptive modification robot foot

技术领域 FIELD

[0001] 本发明涉及仿生跳跃机器人领域,具体是一种仿袋鼠跳跃机器人的自适应变形脚。 [0001] The present invention relates to the field of biomimetic hopping robot, in particular a kangaroo-hopping adaptive modification robot foot.

背景技术 Background technique

[0002] 仿袋鼠跳跃机器人是模仿生物袋鼠跳跃特点的仿生跳跃机器人,可以越过数倍甚至数十倍于自身尺寸的障碍物,特别适合于有障碍物的复杂环境,其跳跃运动的爆发性有助于机器人躲避危险,大大提高了机器人的活动范围和自主运动能力,因而在星际探索、军事侦查、抢险救灾等领域有着广泛的应用前景。 [0002] kangaroo-hopping robot is modeled after biological characteristics of bionic kangaroo hopping robot, can cross several times or even ten times the size of its own obstacles, especially for complex environment with obstacles, its explosive jumping movements have help the robot avoid danger, greatly increased the scope of activities and voluntary movement of the robot, which has a wide range of potential applications in space exploration, military reconnaissance, disaster relief and other fields.

[0003] 美国麻省理工学院研究了仿袋鼠跳跃机器人“Uniroo”,该机器人腿部结构类似于袋鼠的后腿,其肢体构件由铝管焊接而成,并在踝关节处加一个扭簧以减小着地冲击(刊物名称!Massachusetts Institute of Technology,刊出时间:1991 年,论文名称:Uniroo—a one legged dynamic hopping robot)。 [0003] The Massachusetts Institute of Technology study kangaroo hopping robot "Uniroo", the robot leg structure similar hind kangaroo, which body member by welding together tubes, and add a torsion spring at the ankle significantly reduce the impact of (name of the publication Massachusetts Institute of Technology, published time:! 1991, the paper name: Uniroo-a one legged dynamic hopping robot). 随后日本Tohoku 大学和东京大学对“Uniroo”进行了改进,联合研制了机器人“Kenken”,该机器人通过安装在脚后跟和腿部间的弹簧模拟袋鼠脚部的肌肉和筋腱等,实现类似袋鼠的奔跑(刊物名称=Roboticsand Automation,干丨j出时间:2002,论文名称:Development of a biologically inspiredhopping robot- “Kenken”)。 Followed by Tohoku University and the University of Tokyo, Japan "Uniroo" has been improved, jointly developed robot "Kenken", the robot through a simulated spring mounted between the kangaroo foot heel and leg muscles and tendons, to achieve similar kangaroo run (publication name = Roboticsand Automation, a dry Shu j: 2002, paper name: Development of a biologically inspiredhopping robot- "Kenken"). 国内,西北工业大学研究了仿袋鼠跳跃机器人的单腿刚柔混合机构模型,该模型中仿袋鼠跳跃机器人的躯干、大腿、小腿由刚性构件构成,脚部则由均质柔性杆构成,利用均质柔性杆的弹性变形模拟袋鼠脚部的柔性(刊物名称:机器人,刊出时间:2006年,论文名称:考虑脚部柔性的仿袋鼠跳跃机器人运动特性研究)。 Domestic, Northwestern University studied the mechanism mixed rigid-flexible leg Hopping Kangaroo robot model, the simulation model of the robot trunk kangaroo, thigh, comprised of a rigid member, the leg portion constituted by a flexible rod homogenized using both elastic deformation simulation quality flexible rods Kangaroo foot flexible (publication name: robot, published time: 2006, paper Title: Study to consider the motion characteristics of the robot foot flexible hopping Kangaroo).

[0004] 上述仿袋鼠跳跃机器人脚部结构均由刚性构件或均质柔性杆构成,这些结构虽然实现了机器人的跳跃运动,安装弹簧或由均质柔性杆构成的脚部还可储能和缓解落地冲击,但都无法实现脚部轮廓的触地自适应变形特性,即要求仿袋鼠跳跃机器人在跳跃过程的着地阶段脚部接触地面后产生轮廓变形,脚尖呈弯曲状态。 [0004] The imitation kangaroo robot leg structure by a rigid member or flexible rod constituting a homogeneous, although these structures achieve a jumping movement of the robot, or a spring mounting leg portion made of a flexible rod may be a homogeneous and storage mitigation landing impact, but they can not realize the adaptive modification characteristic profile foot touches the ground, which requires hopping robot kangaroo-generating deformation profile in contact with the ground leg-grounded phase jump process, toes curved state. 从而确保机器人实现落地缓冲与稳定、能量的自动存储与释放等功能。 Thereby ensuring that the robot and a buffer to achieve a stable floor, automatic storage and release of energy functions.

发明内容 SUMMARY

[0005] 为克服现有技术中存在的仿袋鼠跳跃机器人脚部轮廓不可触地自适应变形的不足,本发明提出了一种仿袋鼠跳跃机器人的自适应变形脚。 [0005] In order to overcome the prior art kangaroo-hopping robot leg not touch the contour of the deformable adaptively insufficient, the present invention proposes an adaptive modification of simulated foot kangaroo robot.

[0006] 本发明包括曲线脚背杆、曲线脚底杆、框架形脚跟、第一内撑杆、第二内撑杆、第三内撑杆、柔性直杆、柔性斜杆和脚尖柔性杆;其中: [0006] The present invention includes a curved instep rod, bar graph foot, the heel-shaped frame, the first strut, the second strut, the third strut, the flexible straight bar, and a flexible toe diagonals flexible rods; wherein:

[0007] 曲线脚背杆位于曲线脚底杆的正上方,并且所述曲线脚背杆的顶端和曲线脚底杆的顶端通过第十柔性铰链连接,形成了脚尖;曲线脚背杆的末端与框架形脚跟的一端通过第一柔性铰链连接;所述框架形脚跟的另一端的上表面与曲线脚背杆的下表面通过第五柔性铰链连接; [0007] Curve instep foot lever bar is located just above the curve, and the curve of the top of the instep to the top rod and bar graph foot by a flexible hinge connecting the tenth form of the toe; end of the rod end of the curve of the instep and the heel-shaped frame connected by a first flexible hinge; lower surface of the upper surface of the instep and the other end of the curve-shaped frame heel flexible rod through a fifth hinge connection;

[0008] 第一内撑杆、第二内撑杆、第三内撑杆均位于曲线脚背杆与框架形脚跟之间;柔性直杆位于框架形脚跟通过第五柔性铰链与曲线脚背杆连接一端的顶端;柔性斜杆位于脚尖与柔性直杆之间;脚尖柔性杆呈水平状态安装在脚尖处;所述第五柔性铰链与曲线脚背杆下表面连接点的位置位于该曲线脚背杆自末端至顶端总长度的13/40处。 [0008] The first inner strut, the second strut, the third strut are located between the frame-shaped curve of the heel and instep rod; flexible linear shaped bar of the frame by the heel end of the fifth lever is connected with a flexible hinge curve instep tip; flexible bar is located between the toe ramp and the flexible straight bar; toe flexible rod is mounted in a horizontal state at the toe; flexible hinge with the fifth curve instep lever located surface of the connection point of the curve from the end of the rod to instep at the top of the total length of 13/40.

[0009] 所述第一内撑杆的下端与框架形脚跟的内表面通过第二下柔性铰链连接,第一内撑杆的上端向脚尖方向倾斜,使该第一内撑杆与水平面正方向之间有45度夹角,并且该第一内撑杆的上端通过第二上柔性铰链与曲线脚背杆的下表面连接;第二内撑杆的下端与框架形脚跟的内表面通过第三下柔性铰链连接,第二内撑杆的上端向脚尖方向倾斜,使该第二内撑杆与水平面正方向之间有60度夹角,并且该第二内撑杆的上端通过第三上柔性铰链与曲线脚背杆的下表面连接;第三内撑杆垂直于水平面,并且该第三内撑杆的下端与框架形脚跟的内表面通过第四下柔性铰链连接,第三内撑杆的上端与曲线脚背杆的下表面通过第四上柔性铰链连接;所述第二上柔性铰链、第三上柔性铰链、第四上柔性铰链与曲线脚背杆下表面连接点的位置分别位于该曲线脚背杆自末 [0009] The lower end of the strut and the inner surface of the frame-shaped first inner heel by a flexible hinge connected to a second lower, inner end of the first strut is inclined toward the toe direction, so that the first strut and the positive horizontal direction between 45 degree angle, and the upper end of the first inner surface of the lower strut is connected by a flexible hinge and a second curve instep bar; the inner surface of the lower end of the second inner strut of the frame-shaped third lower heel by flexible hinge connection, the inner end of the second strut is inclined toward the toe direction, so that the 60 degree angle between the second strut and the positive horizontal direction, and the second upper end of the strut through a third flexible hinge the lower surface of the instep and the curve connecting rod; third inner strut perpendicular to the horizontal, and the inner surface of the lower end of the third inner strut of the frame-shaped heel through the fourth flexible hinge connecting the upper end of the third strut and the inner the lower surface of the rod by the fourth curve instep flexible hinged; said second flexible hinge, a third flexible hinge, the fourth flexible hinge lever instep curve surface of the connection points of the curves are located at a position from the instep rod end 至顶端总长度的3/40、1/8和1/4处。 To 3 / 40,1 / 8 and 1/4 of the total length of the tip.

[0010] 所述柔性直杆的上端通过第六上柔性铰链与曲线脚背杆连接,所述柔性直杆的下端通过第六下柔性铰链与曲线脚底杆的上表面连接;所述柔性直杆垂直于水平面;所述第六上柔性铰链与曲线脚背杆下表面连接点的位置位于该曲线脚背杆自末端至顶端总长度的3/8处。 [0010] The upper end of the flexible rod connected by a straight bar sixth curve instep and flexible hinge, the upper surface of the lower end of the flexible straight bar by a flexible hinge and the sixth curve plantar lower rod connected; said flexible vertical straight bars to the horizontal plane; the sixth flexible hinge on the lower surface of the rod with the curved instep located connection points of the curve at the instep rod from the top end to the 3/8 of the total length.

[0011] 所述柔性斜杆的下端通过第七下柔性铰链与曲线脚底杆的上表面连接;所述柔性斜杆的上端向脚跟方向倾斜,使该柔性斜杆与水平面正方向之间有120度夹角,并且该柔性斜杆的上端通过第七上柔性铰链与曲线脚背杆的下表面连接;所述第七上柔性铰链与曲线脚背杆下表面连接点的位置位于该曲线脚背杆自末端至顶端总长度的1/2处。 Between the upper end 120 of the flexible shaft is inclined obliquely to the heel direction, so that the flexible rod and the positive direction of the horizontal ramp; [0011] upper surface of the lower end of the diagonal member through the flexible hinge and the flexible sole curve lower rod is connected to the seventh degree angle, and the upper end of the flexible rod is connected by a ramp on a lower surface of the flexible hinge and the seventh bar of the instep curve; said seventh lower flexible hinge lever position curve instep surface of the connection point is located from the end of the bar graph instep to 1/2 of the total length of the top.

[0012] 所述脚尖柔性杆的一端通过第八柔性铰链与曲线脚背杆的下表面连接,所述脚尖柔性杆的另一端通过第九柔性铰链与曲线脚底杆的上表面连接;第八柔性铰链与曲线脚背杆下表面连接点的位置位于该曲线脚背杆自末端至顶端总长度的7/8处。 [0012] The toe end of the flexible rod is connected through the lower surface and the eighth curve instep flexible hinge rod, the other end of the toe of the flexible rod is connected through the upper surface of the flexible hinge and ninth curves foot lever; eighth flexible hinge instep lever position curve of the surface of the connection point of the lever located at the instep of the curve from the top end to the 7/8 of the total length.

[0013] 所述曲线脚背杆的脚背面和脚尖面轮廓由两段不同曲率半径的弧形面组成;所述构成脚背面的弧形面的曲率半径是构成脚尖面的弧形面曲率半径的10倍,并且构成脚背面的弧形面的长度是构成脚尖面的弧形面长度的5倍;所述脚背面的曲率中心位于该曲线脚背杆上表面的上方,所述脚尖面的曲率中心位于该曲线脚背杆下表面的下方。 [0013] back surface of the foot instep and toe lever face profile curve by two arcuate surfaces having different radii of curvature composition; radius of curvature of the arcuate surface constituting the back leg is arcuate surface the radius of curvature of the surface configuration of the toe 10 times, and the length of the arcuate surface constituting the back leg is five times the length of the arcuate surface constituting the surface of the toe; center of curvature of the rear surface of the foot instep of the curve is located above the surface of the rod, the center of curvature of the toe face the bar graph is located below the lower surface of the instep.

[0014] 所述曲线脚底杆的脚底板和前脚掌分别由一段直线和一段弧线组成;所述脚底板的长度是前脚掌长度的1.25倍;所述前脚掌的曲率中心位于曲线脚底杆上表面的上方,该前脚掌的曲率半径是曲线脚背杆脚背面曲率半径的1/3。 [0014] The foot plate of curved rods and forefoot sole by a length of a straight line and are composed of an arc; the length of the foot plate is 1.25 times the length of the forefoot; center of curvature of said forefoot sole bar graph located above the surface, the radius of curvature is the radius of the forefoot of the foot bar graph instep 1/3 back surface curvature.

[0015] 所述框架形脚跟的外轮廓呈槽型,并且构成该框架形脚跟的外轮廓分别在第二下柔性铰链、第三下柔性铰链、第四下柔性铰链和第六上柔性铰链连接点处产生弯折;所述框架形脚跟的外轮廓起点至第二下柔性铰链之间的框架形脚跟的外轮廓、所述第二下柔性铰链至第三下柔性铰链之间的框架形脚跟的外轮廓、所述第三下柔性铰链至第四下柔性铰链之间的框架形脚跟的外轮廓和所述第四下柔性铰链至第六上柔性铰链之间的框架形脚跟的外轮廓均为直线。 [0015] The frame-shaped outer contour of the heel of the groove shape and forms the outer contour of the heel of the frame-shaped flexible hinges, respectively, a second, then a third flexible hinge, the fourth and sixth flexible hinge connecting flexible hinge a bend point; heel between the frame-shaped outer contour of the heel of the frame between the start of the frame-shaped outer contour of the heel to the second flexible hinge, said second lower flexible hinge to the third flexible hinge frame-shaped outer contour of the heel between the heel-shaped outer contour of the frame between the outer contour, the third lower flexible hinge to the flexible hinge and said fourth flexible hinge to fourth lower flexible hinge sixth average a straight line.

[0016] 与现有技术相比,本发明具有以下明显的实质特点和显著优点: [0016] Compared with the prior art, the present invention has the following significant advantages, and salient features of the substance:

[0017] 本发明中的自适应变形脚接触地面后,脚部各柔性杆件和柔性铰链在地面反作用力的驱动下发生柔性变形并存储弹性能,从而实现仿袋鼠跳跃机器人在跳跃过程中脚部触地后产生轮廓自适应变形,呈脚尖弯曲状态。 [0017] In the present invention the adaptive modification feet touch the ground, the flexible deformation of the flexible lower foot of each lever and the flexible hinge ground reaction forces driving and storing elastic energy, thereby achieving kangaroo-hopping robot foot during jumping after the contact portion generates an adaptive deformation profile, the toe was bent state. 本发明结构独特,变形的响应速度快,既有足够的柔性实现仿袋鼠跳跃机器人着地阶段脚部轮廓的自适应变形,又有足够的刚性承受机器人自身的重力,更好的模仿了生物袋鼠的脚部特性,从而达到改善其跳跃性能的目的,如:减缓落地冲击,提高运动稳定性,实现能量的自动存储与释放,增加跳高度和跃远度等。 The unique structure of the present invention, fast response speed deformation, to achieve both sufficient flexibility kangaroo-hopping robot leg-grounded phase adaptively modified profile, there is sufficient rigidity to withstand the own weight of the robot, and better mimic the biological kangaroo foot characteristics, so as to achieve the purpose of improving the performance of skip, such as: slow down the impact of landing, improve the motion stability, automatic storage and release of energy, increasing the height of the jump and jump away degree.

附图说明 BRIEF DESCRIPTION

[0018] 图1为仿袋鼠跳跃机器人的自适应变形脚结构图。 [0018] FIG. 1 is a kangaroo-hopping adaptive modification robot foot structure.

[0019] 图2为柔性铰链的结构示意图。 [0019] FIG. 2 is a schematic structural view of a flexible hinge. 附图中: In the drawings:

[0020] [0020]

1.曲线脚背杆2.曲线脚底杆3.框架形脚跟 4.第--内撑杆5.第二内撑杆 1. Curve 2. Curve foot instep rod-shaped framework bar heels 3. 4. - of the second strut 5. The strut inner

[0021] [0021]

6.第三内撑杆7.柔性直杆8.柔性斜杆 9.脚尖柔性杆10.第一柔性铰链 The flexible struts 6. Third straight bar 7. 8. 9. diagonals of the flexible shaft 10. The first flexible toe flexible hinge

Π.第二上柔性铰链12.第二下柔性铰链 13.第三上柔性铰链 Π. A second flexible hinge 12. The flexible hinge 13. The flexible hinge second lower third

14.第三下柔性铰链15.第四上柔性铰链 16.第四下柔性铰链 14. The third lower fourth flexible hinge 15. The flexible hinge 16. The flexible hinge fourth lower

17.第五柔性铰链18.第六上柔性铰链 19.第六K柔性铰链 17. A flexible hinge 18. The fifth sixth flexible hinge 19. The flexible hinge sixth K

20.第七上柔性铰链21.第七下柔性铰链 22.第八柔性铰链 20. The seventh flexible hinge 21. The flexible hinge 22 at the seventh eighth flexible hinge

23.第九柔性铰链 24.第十柔性铰链 23. The ninth flexible hinge 24. The flexible hinge tenth

具体实施方式 Detailed ways

[0022] 如图1所示,本发明中的仿袋鼠跳跃机器人的自适应变形脚通过线切割整体成形。 [0022] 1, in the present invention kangaroo-hopping adaptive modification of a robot foot integrally formed through cutting. 所述仿袋鼠跳跃机器人的自适应变形脚包括:曲线脚背杆1、曲线脚底杆2、框架形脚跟 The kangaroo-hopping adaptive modification robot foot comprises: a curved lever instep curve foot lever 2, a frame-shaped heel

3、第一内撑杆4、第二内撑杆5、第三内撑杆6、柔性直杆7、柔性斜杆8和脚尖柔性杆9 ;所述自适应变形脚的材料为5mm厚的ABS板,采用数控加工技术制成。 3, the first strut 4, the strut 5 second, the third strut 6, the flexible linear rods 7, 8 and the flexible toe diagonals flexible rods 9; the adaptive deformable foot 5mm thick material ABS plate, made with CNC machining technology.

[0023] 本实施例中,曲线脚背杆I位于曲线脚底杆2的正上方,并且所述曲线脚背杆I的顶端和曲线脚底杆2的顶端通过第十柔性铰链24连接,形成了脚尖。 [0023] In this embodiment, the curve I is located directly above the instep bar graph foot lever 2, and the curve I bar top and instep foot bar graph 24 of the top 2 are connected by a flexible hinge tenth form a toe. 曲线脚背杆I的末端与框架形脚跟3的一端通过第一柔性铰链10连接;所述框架形脚跟3的另一端的上表面与曲线脚背杆I的下表面通过第五柔性铰链17连接。 Curve I is an end of the rod end of the instep and the heel-shaped frame 3 is connected by a first flexible hinge 10; the upper surface of the instep and the other end of said curved frame-shaped heel 3 of the lever is connected through a fifth surface I flexible hinges 17.

[0024] 第一内撑杆4、第二内撑杆5、第三内撑杆6均位于曲线脚背杆I与框架形脚跟3之间。 [0024] 4 first inner strut, the second strut 5, the third strut 6 are located between the curved rods 3 I instep and the heel-shaped frame. 其中:第一内撑杆4的下端与框架形脚跟3的内表面通过第二下柔性铰链12连接,第一内撑杆4的上端向脚尖方向倾斜,使该第一内撑杆4与水平面正方向之间有45度夹角,并且该第一内撑杆4的上端通过第二上柔性铰链11与曲线脚背杆I的下表面连接;第二内撑杆5的下端与框架形脚跟3的内表面通过第三下柔性铰链14连接,第二内撑杆5的上端向脚尖方向倾斜,使该第二内撑杆5与水平面正方向之间有60度夹角,并且该第二内撑杆5的上端通过第三上柔性铰链13与曲线脚背杆I的下表面连接;第三内撑杆6垂直于水平面,并且该第三内撑杆6的下端与框架形脚跟3的内表面通过第四下柔性铰链16连接,第三内撑杆6的上端与曲线脚背杆I的下表面通过第四上柔性铰链15连接。 Wherein: the lower end of the strut and the inner surface of the frame-shaped heel 3 of the first inner 4 are connected by a second flexible hinge 12 at an upper end of the first strut 4 is inclined toward the toe direction, so that the first inner and horizontal strut 4 45 degree angle between the positive direction, and the upper end of the first inner surface of the lower strut rod 4 is connected via a second I flexible hinge 11 and the instep curve; the lower end of the second strut 5 with the frame-shaped heel 3 the inner surface of the third flexible hinge 14 is connected to the lower, inner end of the second strut 5 is inclined toward the toe direction, so that the positive direction of the horizontal struts 5 and the second inner angle between 60 degrees and the second inner 5 the upper end of strut 13 and the lower surface of the lever instep curve I is connected by a third flexible hinge; third inner strut 6 perpendicular to the horizontal, and the lower end of the strut and the frame-shaped heel 3 of the inner surface 6 of the third inner by the fourth flexible hinge 16 is connected to the upper end of the struts and the third curve instep 6 of the lever on the fourth surface I 15 connected by a flexible hinge.

[0025] 柔性直杆7位于框架形脚跟3通过第五柔性铰链17与曲线脚背杆I连接一端的顶端。 [0025] The flexible linear rods 7 are shaped heel 3 of the frame by a flexible hinge 17 and a fifth curve I instep connected to the top end of the rod. 所述柔性直杆7的上端通过第六上柔性铰链18与曲线脚背杆I连接,所述柔性直杆7的下端通过第六下柔性铰链19与曲线脚底杆2的上表面连接;所述柔性直杆7垂直于水平面。 The upper end of the flexible shaft 7 by a straight sixth flexible hinge 18 is connected with the I bar graph instep, the lower end of the flexible straight bar 7 is connected to the upper surface of the lower sixth flexible hinge 19 and the curved sole 2; said flexible 7 perpendicular to the horizontal straight bars.

[0026] 柔性斜杆8位于脚尖与柔性直杆7之间。 [0026] The flexible diagonal member 8 is located between the toe and the flexible straight bar 7. 所述柔性斜杆8的下端通过第七下柔性铰链21与曲线脚底杆2的上表面连接。 8 the lower end of the flexible rod connected to the upper surface of the swash seventh lower flexible hinge 21 and Curve 2 feet. 所述柔性斜杆8的上端向脚跟方向倾斜,使该柔性斜杆8与水平面正方向之间有120度夹角,并且该柔性斜杆8的上端通过第七上柔性铰链20与曲线脚背杆I的下表面连接。 The flexible upper end of the diagonal member 8 inclined in the heel direction so that the flexible helical rod 120 degree angle between the plane 8 and the positive direction, and the upper end of the diagonal member 8 is flexible on the seventh through the flexible hinges 20 and instep bar graph I connected to the lower surface.

[0027] 脚尖柔性杆9呈水平状态安装在脚尖处。 [0027] 9 in a horizontal state toe flexible rod is mounted at the toe. 所述脚尖柔性杆9的一端通过第八柔性铰链22与曲线脚背杆I的下表面连接,所述脚尖柔性杆9的另一端通过第九柔性铰链23与曲线脚底杆2的上表面连接。 The toe end of the flexible shaft 9 is connected to the lower surface of the rod I by a flexible hinge 22 and the eighth curve instep, toe and the other end of the flexible rod connected to the upper surface 9 of the ninth flexible hinge 23 and Curve 2 feet.

[0028] 以上所述第二上柔性铰链11、第三上柔性铰链13、第四上柔性铰链15、第五柔性铰链17、第六上柔性铰链18、第七上柔性铰链20和第八柔性铰链22,与曲线脚背杆I下表面连接点的位置分别位于该曲线脚背杆I自末端至顶端总长度的3/40、1/8、1/4、13/40、3/8、1/2、7/8 处。 [0028] The above said second flexible hinge 11, a third flexible hinge 13, the fourth flexible hinge 15, a flexible hinge 17 fifth, sixth flexible hinge 18, 20 seventh and eighth flexible hinge flexible 22, the curve I instep hinge lever lower surface of the connection points of the curves are located at a position I from the rod end of the instep to the top of the overall length of 3 / 40,1 / 8,1 / 4,13 / 40,3 / 8,1 / 2,7 8 /.

[0029] 所述曲线脚背杆I的曲线轮廓由两段不同曲率半径的弧形面组成。 The [0029] I curve curved profile rod instep by two curved surfaces having different radii of curvature composition. 所述两段不同曲率半径的弧形面分别构成了本实施例的脚背面和脚尖面,所述构成脚背面的弧形面的曲率半径是构成脚尖面的弧形面曲率半径的10倍,并且构成脚背面的弧形面的长度是构成脚尖面的弧形面长度的5倍。 The two different radii of curvature arcuate surfaces constitute the back foot and toe surfaces of the present embodiment, the radius of curvature of the arcuate surface constituting the back leg 10 times the radius of curvature of the arcuate surface constituting the surface of the toes, and the length of the arcuate surface constituting the back leg is five times the arcuate surfaces constituting the length of the toe side. 所述脚背面的曲率中心位于该曲线脚背杆I上表面的上方,所述脚尖面的曲率中心位于该曲线脚背杆I下表面的下方。 The center of curvature of the back of the foot instep of the curve is located above the surface of the rod I, the center of curvature of the toe of the curve surface instep I bar located below the lower surface.

[0030] 所述曲线脚底杆2的轮廓由一段直线和一段弧线组成。 The [0030] foot lever profile curve by 2 straight lines and an arc section of the composition. 所述的直线段构成了本实施例的脚底板,所述弧线段构成了本实施例的前脚掌;所述脚底板的长度是前脚掌长度的1.25倍。 The straight line segments constituting the foot plate of the present embodiment, the arc segments constituting the forefoot according to the present embodiment; the length of the foot plate is 1.25 times the length of the forefoot. 所述前脚掌的曲率中心位于曲线脚底杆2上表面的上方,该前脚掌的曲率半径是曲线脚背杆I脚背面曲率半径的1/3。 The forefoot center of curvature is located above the upper surface of the second curved foot lever, the radius of curvature of a curved forefoot lever 1/3 feet radius of curvature of the back feet I.

[0031] 所述框架形脚跟3的外轮廓呈槽型,并且构成该框架形脚跟3的外轮廓分别在第二下柔性铰链12、第三下柔性铰链14、第四下柔性铰链16和第六上柔性铰链18连接点处产生弯折。 [0031] The frame-shaped outer contour of the heel 3 of the groove shape and forms the outer contour of the frame-shaped heel 3 are 12, the third flexible hinge 14, the fourth flexible hinge 16 and the second lower flexible hinge the six flexible hinge 18 is connected to a bend point. 所述框架形脚跟3的外轮廓起点至第二下柔性铰链12之间的框架形脚跟3的外轮廓、所述第二下柔性铰链12至第三下柔性铰链14之间的框架形脚跟3的外轮廓、所述第三下柔性铰链14至第四下柔性铰链16之间的框架形脚跟3的外轮廓和所述第四下柔性铰链16至第六上柔性铰链18之间的框架形脚跟3的外轮廓均为直线。 The frame-shaped outer contour of the heel 3 of the start point to the second lower flexible hinge formed between the outer contour of the frame 12 of heel 3, the second lower flexible hinge 12 to the third flexible hinge 14 between the frame-shaped heel 3 between the frame-shaped outer contour, the frame-shaped heel between the third lower fourth flexible hinge 14 to the flexible hinges 16 and the outer contour 3 of the fourth flexible hinge 16 on a flexible hinge 18 to the sixth the outer contour of the heel 3 are straight.

[0032] 所有杆件均为用ABS板制成的柔性杆,在驱动过程中发生柔性变形,存储弹性能。 [0032] All bars are made of a flexible bar ABS plate, a flexible deformation occurs in the elastic energy stored during the driving. 所有柔性铰链均能存储弹性能。 All flexible hinges can store elastic energy. 驱动过程是指仿袋鼠跳跃机器人着地后地面对脚底反作用力的作用过程。 It refers to the process of driving kangaroo-hopping robot to face the sole role in the process of reaction.

[0033] 如图2所示。 [0033] 2 shown in FIG. 柔性铰链采用弹性材料制成,本实施例中,柔性铰链采用ABS板制成。 Flexible hinge is made of an elastic material, in the present embodiment, the flexible hinge plate is made of ABS. 所述柔性铰链的结构同现有技术,是在长方体的两侧表面分别有一个同径的半圆形的变形槽,并且所述两个变形槽相对称。 The flexible hinge structure with the prior art, is a modification of the semi-circular groove respectively both side surfaces of a rectangular parallelepiped of the same diameter, and the two grooves opposite said deformable. 通过所述柔性铰链能够调整被连接件在二维方向的角度。 Through the flexible hinge is connected can adjust the angle member in two-dimensional directions. 所述的柔性铰链是在通过线切割整体成形本实施例时,随仿袋鼠跳跃机器人的自适应变形脚整体加工而成。 Said flexible hinge are integrally molded by cutting to the present embodiment, with a kangaroo-hopping adaptive modification processing robot foot integrally formed. [0034] 本实施例中,仿袋鼠跳跃机器人的自适应变形脚的轮廓触地自适应变形过程如下: [0034] In this embodiment, the adaptive contour deformation process touchdown adaptive hopping robot foot Kangaroo following modification:

[0035] 仿袋鼠跳跃机器人在跳跃过程中着地时脚尖先触地,脚底前端受到地面对其向上的反作用力,即此时曲线脚底杆2的顶端处受到一个方向向上的作用力。 When [0035] Hopping Kangaroo robot jump process in the first toe touches the ground by the foot floor reaction force its front end upward, i.e., the curve at this time at the top of foot lever 2 in one direction by the upward force. 曲线脚底杆2在该作用力的作用下发生弯曲柔性变形,同时通过第六下柔性铰链19、第七下柔性铰链21、第九柔性铰链23分别驱动柔性直杆7、柔性斜杆8、脚尖柔性杆9逆时针转动并发生柔性变形,同时通过第十柔性铰链24将向上的力传递到曲线脚背杆I的顶端。 Curve plantar bending of the flexible rod 2 is deformed under the action of the force, while 19, the flexible hinge 21 at the seventh, ninth flexible hinge 23 of the flexible linear rods 7 are driven by a flexible hinge sixth lower, oblique flexible rod 8, the toe the flexible shaft 9 is rotated counterclockwise and deformed flexible, while the tenth flexible hinge 24 upward force to the top of the curve I by rod instep.

[0036] 柔性直杆7转动后通过第六上柔性铰链18将向上的力传递到框架形脚跟3,从而驱动框架形脚跟3逆时针转动并发生弯曲柔性变形。 [0036] After the flexible straight bar 7 rotates upward force is transmitted to the frame-shaped heel 3 through sixth flexible hinge 18, so that bending of the flexible 3 rotated counterclockwise and the drive frame shape deformed heel. 框架形脚跟3转动后通过第二下柔性铰链12、第三下柔性铰链14、第四下柔性铰链16分别驱动第一内撑杆4、第二内撑杆5、第三内撑杆6逆时针转动并发生柔性变形。 Shaped heel frame 3 is rotated by the second lower flexible hinge 12, the third flexible hinge 14, the fourth flexible hinge 16 within the drive the first strut 4, the strut 5 second, the third inverse strut 6 clockwise rotation and flexibly deformed. 框架形脚跟3、第一内撑杆4、第二内撑杆5、第三内撑杆6转动后分别通过第一柔性铰链10与第五柔性铰链17、第二上柔性铰链11、第三上柔性铰链13、第四上柔性铰链15使曲线脚背杆I的末端沿逆时针方向弯曲。 Frame-shaped heel 3, the first strut 4, the second strut 5, the rotation of the third strut 6 through the first flexible hinge 10 and the fifth flexible hinge 17, a second flexible hinge 11, a third the flexible hinge 13, a fourth flexible hinge 15 so that the curved end of the rod I instep bent counterclockwise direction.

[0037] 柔性斜杆8转动后通过第七上柔性铰链20将向上的力传递到曲线脚背杆I的中部,脚尖柔性杆9转动后通过第八柔性铰链22将向上的力传递到曲线脚背杆I的顶端。 [0037] The flexible diagonals transmitted through the upward force on the seventh flexible hinge 20 after 8 rotates to curve instep rod central I, toe flexible rod is transmitted to the curve of the instep after 9 is rotated through an eighth flexible hinge 22 upward force rod I top of. 曲线脚背杆I的中部和顶端受到驱动力后沿逆时针方向弯曲变形,此时脚尖弯曲翘起。 Curve and the central rod tip I instep counterclockwise direction by a driving force after the bending, then bending the toes curled. 所有构件发生柔性变形后均可存储弹性能,所有柔性铰链在驱动过程中均能存储弹性能。 After all of the components can occur flexibly deformable elastic energy storage, you can store all the elastic flexible hinge during driving energy. 从而该仿袋鼠跳跃机器人的自适应变形脚在触地后发生脚部轮廓自适应变形,呈脚尖弯曲状态,并存储弹性能。 Hopping Kangaroo adaptive so that the robot foot deformation occurs after touchdown foot contour adaptive deformed state was bent toes, and store elastic energy.

Claims (8)

1.一种仿袋鼠跳跃机器人的自适应变形脚,其特征在于,包括曲线脚背杆、曲线脚底杆、框架形脚跟、第一内撑杆、第二内撑杆、第三内撑杆、柔性直杆、柔性斜杆和脚尖柔性杆;其中:曲线脚背杆位于曲线脚底杆的正上方,并且所述曲线脚背杆的顶端和曲线脚底杆的顶端通过第十柔性铰链连接,形成了脚尖;曲线脚背杆的末端与框架形脚跟的一端通过第一柔性铰链连接;所述框架形脚跟的另一端的上表面与曲线脚背杆的下表面通过第五柔性铰链连接;第一内撑杆、第二内撑杆、第三内撑杆均位于曲线脚背杆与框架形脚跟之间;柔性直杆位于框架形脚跟通过第五柔性铰链与曲线脚背杆连接一端的顶端;柔性斜杆位于脚尖与柔性直杆之间;脚尖柔性杆呈水平状态安装在脚尖处;所述第五柔性铰链与曲线脚背杆下表面连接点的位置位于该曲线脚背杆自末 An adaptive hopping kangaroo-foot robot deformation, characterized in that the instep includes a curved rod curved rod foot, the heel-shaped frame, the first strut, the second strut, the third strut, flexible straight, oblique rods and a flexible toe flexible rods; wherein: curve instep foot lever positioned directly above the bar graph, and the top curve to the top of the instep and curve rod foot lever is connected by a flexible hinge tenth form a toe; curve One end of the frame-shaped end of the heel instep rod connected by a first flexible hinge; instep upper surface of the other end of the curve-shaped frame of the lower surface of the heel of the rod through a fifth flexible hinge connection; the first strut, the second the strut, the third strut are located between the frame-shaped curve of the heel and instep bar; straight bar of the frame-shaped flexible rod is connected to the top end of the heel by a flexible hinge and a fifth curve instep; flexible toe lever is positioned obliquely to the flexible linear between the rod; toe flexible rod is mounted in a horizontal state at the toe; flexible hinge in said fifth lever position curve instep surface of the connection point is located from the end of the bar graph instep 至顶端总长度的13/40处。 13/40 to the total length of the tip.
2.如权利要求1所述一种仿袋鼠跳跃机器人的自适应变形脚,其特征在于,第一内撑杆的下端与框架形脚跟的内表面通过第二下柔性铰链连接,第一内撑杆的上端向脚尖方向倾斜,使该第一内撑杆与水平面正方向之间有45度夹角,并且该第一内撑杆的上端通过第二上柔性铰链与曲线脚背杆的下表面连接;第二内撑杆的下端与框架形脚跟的内表面通过第三下柔性铰链连接,第二内撑杆的上端向脚尖方向倾斜,使该第二内撑杆与水平面正方向之间有60度夹角,并且该第二内撑杆的上端通过第三上柔性铰链与曲线脚背杆的下表面连接;第三内撑杆垂直于水平面,并且该第三内撑杆的下端与框架形脚跟的内表面通过第四下柔性铰链连接,第三内撑杆的上端与曲线脚背杆的下表面通过第四上柔性铰链连接;所述第二上柔性铰链、第三上柔性铰链、第四上柔性铰链 2. An adaptive deformation of the foot kangaroo-hopping robot as claimed in claim, wherein the first strut and the inner surface of the lower end of the frame-shaped heel by the second lower flexible hinge connection, a first inner support the upper end of the lever is inclined toward the toe direction, so that the 45 degree angle between the first strut and the positive horizontal direction, and the upper end of the first inner surface of the lower strut is connected by a second flexible hinge rod instep curve ; the inner surface of the second lower end of the frame-shaped strut is connected to the heel by a third flexible hinge, the inner end of the second strut is inclined toward the toe direction, so that between the second inner strut 60 and the positive direction of the horizontal plane degree angle, and the upper end of the second strut connected by a lower surface of the third flexible hinge rod instep curve; the third strut perpendicular to the horizontal, and the lower end of the third inner strut of the frame-shaped heels the inner surface of the fourth lower by a flexible hinge connecting the lower surface of the upper end of the strut curve instep third inner rod by a fourth flexible hinge; said second flexible hinge, a third flexible hinge, the fourth flexible hinge 与曲线脚背杆下表面连接点的位置分别位于该曲线脚背杆自末端至顶端总长度的3/40、1/8和1/4处。 Instep lever position curve surface of the connection points of the curve are located from the end of the instep to 3 bar / 40, 1/8 and 1/4 of the total length of the tip.
3.如权利要求1所述一种仿袋鼠跳跃机器人的自适应变形脚,其特征在于,所述柔性直杆的上端通过第六上柔性铰链与曲线脚背杆连接,所述柔性直杆的下端通过第六下柔性铰链与曲线脚底杆的上表面连接;所述柔性直杆垂直于水平面;所述第六上柔性铰链与曲线脚背杆下表面连接点的位置位于该曲线脚背杆自末端至顶端总长度的3/8处。 3. The adaptive modification of the pin 1. A kangaroo-hopping robot as claimed in claim, wherein an upper end of the flexible rod connected by a straight bar sixth curve instep and flexible hinge, the lower end of the flexible linear rod connected by an upper surface of the flexible hinge and sixth curve foot bar; the flexible perpendicular to the horizontal straight bars; at the sixth flexible hinge lever position curve instep surface of the connection point is located from the end of the profile bar to the top of the instep at 3/8 of the total length.
4.如权利要求1所述一种仿袋鼠跳跃机器人的自适应变形脚,其特征在于,所述柔性斜杆的下端通过第七下柔性铰链与曲线脚底杆的上表面连接;所述柔性斜杆的上端向脚跟方向倾斜,使该柔性斜杆与水平面正方向之间有120度夹角,并且该柔性斜杆的上端通过第七上柔性铰链与曲线脚背杆的下表面连接;所述第七上柔性铰链与曲线脚背杆下表面连接点的位置位于该曲线脚背杆自末端至顶端总长度的1/2处。 4. An adaptive deformation of the foot kangaroo-hopping robot as claimed in claim, wherein the lower end of the diagonal member connected by a flexible upper surface of the flexible hinge and a seventh curve foot rod; said flexible swash the upper end of the lever inclined heel direction, and the 120 degree angle between the rod and the flexible helical positive horizontal direction, and the flexible upper end connected by a diagonal member on the lower surface of the flexible hinge and the seventh bar of the instep curve; the first seven positions on the flexible hinge lever instep curve surface of the connection point is located from the end of the rod to the instep curve at the top 1/2 of the total length.
5.如权利要求1所述一种仿袋鼠跳跃机器人的自适应变形脚,其特征在于,所述脚尖柔性杆的一端通过第八柔性铰链与曲线脚背杆的下表面连接,所述脚尖柔性杆的另一端通过第九柔性铰链与曲线脚底杆的上表面连接;第八柔性铰链与曲线脚背杆下表面连接点的位置位于该曲线脚背杆自末端至顶端总长度的7/8处。 5. The adaptive modification of the pin 1. A robot simulation kangaroo the toe flexible rod, characterized in that the toe end of the flexible rod is connected through the lower surface and the eighth curve instep flexible hinge rod, the other end is connected through the upper surface of the flexible hinge and ninth curves foot lever; position of the surface at the point of attachment to the flexible hinge eighth curve graph instep instep bar located at the top end to the rod from the total length of 7/8.
6.如权利要求1所述一种仿袋鼠跳跃机器人的自适应变形脚,其特征在于,所述曲线脚背杆的脚背面和脚尖面轮廓由两段不同曲率半径的弧形面组成;所述构成脚背面的弧形面的曲率半径是构成脚尖面的弧形面曲率半径的10倍,并且构成脚背面的弧形面的长度是构成脚尖面的弧形面长度的5倍;所述脚背面的曲率中心位于该曲线脚背杆上表面的上方,所述脚尖面的曲率中心位于该曲线脚背杆下表面的下方。 1. A method as claimed in the kangaroo-hopping adaptive modification robot foot, characterized in that the foot and the back surface profile of the curve toe lever instep by two curved surfaces having different radii of curvature of the composition; the radius of curvature of the arcuate surface constituting the back of the foot is 10 times the radius of the arc constituting the curvature of the surface of the toe, and the length of the arcuate surface constituting the back leg is five times the length of the arcuate surface constituting the surface of the toe; the foot the center of curvature of the back curve instep located above the surface of the rod, the center of curvature of the toe of the curve surface is positioned below the lower surface of the lever instep.
7.如权利要求1所述一种仿袋鼠跳跃机器人的自适应变形脚,其特征在于,所述曲线脚底杆的脚底板和前脚掌分别由一段直线和一段弧线组成;所述脚底板的长度是前脚掌长度的1.25倍;所述前脚掌的曲率中心位于曲线脚底杆上表面的上方,该前脚掌的曲率半径是曲线脚背杆脚背面曲率半径的1/3。 The adaptive modification of the pin 1. A kangaroo-hopping robot as claimed in claim, wherein the foot plate and curved rod forefoot sole by a length of a straight line and are composed of an arc; the foot plate length is 1.25 times the length of the forefoot; center of curvature of said forefoot plantar rod located above the surface of the curve, the radius of curvature is the radius of the forefoot of the foot bar graph instep 1/3 back surface curvature.
8.如权利要求1所述一种仿袋鼠跳跃机器人的自适应变形脚,其特征在于,所述框架形脚跟的外轮廓呈槽型,并且构成该框架形脚跟的外轮廓分别在第二下柔性铰链、第三下柔性铰链、第四下柔性铰链和第六上柔性铰链连接点处产生弯折;所述框架形脚跟的外轮廓起点至第二下柔性铰链之间的框架形脚跟的外轮廓、所述第二下柔性铰链至第三下柔性铰链之间的框架形脚跟的外轮廓、所述第三下柔性铰链至第四下柔性铰链之间的框架形脚跟的外轮廓和所述第四下柔性铰链至第六上柔性铰链之间的框架形脚跟的外轮廓均为直线。 8. An adaptive deformation of the foot kangaroo-hopping robot as claimed in claim, characterized in that the outer contour of the heel of the frame-shaped groove shape, and constitute a frame-shaped outer contour of the second lower heel, respectively ,, the flexible hinge at a third flexible hinge at a fourth flexible hinge and the flexible hinge connecting the sixth point a bend; start of the frame-shaped outer contour of the heel to form the outer frame of the heel of a flexible hinge between the second lower contour, the outer contour of the heel-shaped frame between the second lower flexible hinge to a third flexible hinge, the frame-shaped outer contour of the heel between the flexible hinge to the third flexible hinge and said fourth lower frame-shaped outer contour of the heel between the fourth to the sixth flexible hinge flexible hinges are straight.
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