CN105501325A - 仿人机器人两自由度并联减振机械足 - Google Patents
仿人机器人两自由度并联减振机械足 Download PDFInfo
- Publication number
- CN105501325A CN105501325A CN201510953302.5A CN201510953302A CN105501325A CN 105501325 A CN105501325 A CN 105501325A CN 201510953302 A CN201510953302 A CN 201510953302A CN 105501325 A CN105501325 A CN 105501325A
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- China
- Prior art keywords
- toe
- metatarsal
- spring
- tension spring
- shock absorption
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000010521 absorption reaction Methods 0.000 title abstract 5
- 230000035939 shock Effects 0.000 title abstract 5
- 210000001872 metatarsal bone Anatomy 0.000 claims abstract description 45
- 210000003371 toe Anatomy 0.000 claims abstract description 20
- 210000002683 foot Anatomy 0.000 claims abstract description 18
- 210000001226 toe joint Anatomy 0.000 claims abstract description 17
- 210000003423 ankle Anatomy 0.000 claims abstract description 11
- 210000001255 hallux Anatomy 0.000 claims abstract description 8
- 238000013016 damping Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 abstract description 6
- 210000000455 fourth toe Anatomy 0.000 abstract 1
- 210000000453 second toe Anatomy 0.000 abstract 1
- 210000000431 third toe Anatomy 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
Description
Claims (1)
Priority Applications (1)
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CN201510953302.5A CN105501325B (zh) | 2015-12-17 | 2015-12-17 | 仿人机器人两自由度并联减振机械足 |
Applications Claiming Priority (1)
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CN201510953302.5A CN105501325B (zh) | 2015-12-17 | 2015-12-17 | 仿人机器人两自由度并联减振机械足 |
Publications (2)
Publication Number | Publication Date |
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CN105501325A true CN105501325A (zh) | 2016-04-20 |
CN105501325B CN105501325B (zh) | 2017-08-01 |
Family
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Family Applications (1)
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CN201510953302.5A Active CN105501325B (zh) | 2015-12-17 | 2015-12-17 | 仿人机器人两自由度并联减振机械足 |
Country Status (1)
Country | Link |
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CN (1) | CN105501325B (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108098828A (zh) * | 2017-12-26 | 2018-06-01 | 常州大学 | 一种可用于工业机器人的具有减振作用的双自由度颈关节装置 |
CN108161976A (zh) * | 2017-12-26 | 2018-06-15 | 常州大学 | 一种能够左右晃动与前后点头的仿人柔性颈关节 |
CN108161977A (zh) * | 2017-12-26 | 2018-06-15 | 常州大学 | 一种仿生机器人两自由度柔性颈部关节结构 |
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CN201231795Y (zh) * | 2008-06-23 | 2009-05-06 | 孙洪兴 | 智能机器人推拉车行走装置 |
CN101428656A (zh) * | 2008-12-16 | 2009-05-13 | 吉林大学 | 具有侧向自由度的欠驱动双足机器人多模式欠驱动弹性脚 |
CN102556199A (zh) * | 2011-12-29 | 2012-07-11 | 北京航空航天大学 | 一种仿人机器人多自由度柔性脚板 |
CN202413981U (zh) * | 2012-01-19 | 2012-09-05 | 浙江大学 | 多足步行机器人平底式脚结构 |
EP2626176A1 (en) * | 2006-07-17 | 2013-08-14 | Raytheon Company | Contact displacement actuator system |
CN103318289A (zh) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | 一种腿型结构可变的模块化液压驱动四足机器人 |
CN103802907A (zh) * | 2013-01-17 | 2014-05-21 | 常州先进制造技术研究所 | 类人机器人脚 |
CN104401419A (zh) * | 2014-11-25 | 2015-03-11 | 北京工业大学 | 一种基于气动人工肌肉的新型双足仿人机器人系统 |
CN204548271U (zh) * | 2015-04-30 | 2015-08-12 | 高建军 | 步行机器人足部结构 |
CN104890756A (zh) * | 2015-06-09 | 2015-09-09 | 江苏科技大学 | 一种三维仿人双足步行机器人的机械结构及行走方法 |
-
2015
- 2015-12-17 CN CN201510953302.5A patent/CN105501325B/zh active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2626176A1 (en) * | 2006-07-17 | 2013-08-14 | Raytheon Company | Contact displacement actuator system |
CN201231795Y (zh) * | 2008-06-23 | 2009-05-06 | 孙洪兴 | 智能机器人推拉车行走装置 |
CN101428656A (zh) * | 2008-12-16 | 2009-05-13 | 吉林大学 | 具有侧向自由度的欠驱动双足机器人多模式欠驱动弹性脚 |
CN102556199A (zh) * | 2011-12-29 | 2012-07-11 | 北京航空航天大学 | 一种仿人机器人多自由度柔性脚板 |
CN202413981U (zh) * | 2012-01-19 | 2012-09-05 | 浙江大学 | 多足步行机器人平底式脚结构 |
CN103802907A (zh) * | 2013-01-17 | 2014-05-21 | 常州先进制造技术研究所 | 类人机器人脚 |
CN103318289A (zh) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | 一种腿型结构可变的模块化液压驱动四足机器人 |
CN104401419A (zh) * | 2014-11-25 | 2015-03-11 | 北京工业大学 | 一种基于气动人工肌肉的新型双足仿人机器人系统 |
CN204548271U (zh) * | 2015-04-30 | 2015-08-12 | 高建军 | 步行机器人足部结构 |
CN104890756A (zh) * | 2015-06-09 | 2015-09-09 | 江苏科技大学 | 一种三维仿人双足步行机器人的机械结构及行走方法 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108098828A (zh) * | 2017-12-26 | 2018-06-01 | 常州大学 | 一种可用于工业机器人的具有减振作用的双自由度颈关节装置 |
CN108161976A (zh) * | 2017-12-26 | 2018-06-15 | 常州大学 | 一种能够左右晃动与前后点头的仿人柔性颈关节 |
CN108161977A (zh) * | 2017-12-26 | 2018-06-15 | 常州大学 | 一种仿生机器人两自由度柔性颈部关节结构 |
CN108098828B (zh) * | 2017-12-26 | 2020-10-27 | 常州大学 | 一种可用于工业机器人的具有减振作用的双自由度颈关节装置 |
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CN105501325B (zh) | 2017-08-01 |
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Effective date of registration: 20220210 Address after: 213164 407-2-6 room C, Tianan Digital City, 588 Changwu South Road, Wujin high tech Industrial Development Zone, Changzhou, Jiangsu Patentee after: CHANGZHOU XIAOGUO INFORMATION SERVICES Co.,Ltd. Address before: Gehu Lake Road Wujin District 213164 Jiangsu city of Changzhou province No. 1 Patentee before: CHANGZHOU University |
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Effective date of registration: 20240403 Address after: Room 601, building 1, Meili neighborhood committee, panhuang sub district office, Yandu District, Yancheng City, Jiangsu Province Patentee after: Yancheng Yanxi Urban Development and Construction Co.,Ltd. Country or region after: China Address before: 213164 407-2-6 room C, Tianan Digital City, 588 Changwu South Road, Wujin high tech Industrial Development Zone, Changzhou, Jiangsu Patentee before: CHANGZHOU XIAOGUO INFORMATION SERVICES Co.,Ltd. Country or region before: China |