CN105584555B - Reluctance type hopping mechanism based on electric capacity - Google Patents
Reluctance type hopping mechanism based on electric capacity Download PDFInfo
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- CN105584555B CN105584555B CN201610130708.8A CN201610130708A CN105584555B CN 105584555 B CN105584555 B CN 105584555B CN 201610130708 A CN201610130708 A CN 201610130708A CN 105584555 B CN105584555 B CN 105584555B
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- connecting rod
- electric capacity
- electromagnet
- motor
- jump
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Classifications
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- 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
The invention provides a kind of reluctance type hopping mechanism based on electric capacity, including creep part, jump part and circuit part, wherein, circuit part respectively controlled motor realize creep function, jump part skip functionality and jump part elevating function.When controlling the mechanism to creep, circuit controls the first motor to rotate forward so that the interior bar in expansion link stretches out outer bar, and band motor magnet cylinder rises, and the front and rear foot of lifting jump part, while circuit controls the second motor to rotate, realizes the function of creeping of the mechanism.When controlling mechanism jump, circuit controls the first motor backwards rotation, so that the interior bar retraction outer bar in expansion link, band motor magnet cylinder declines, the front and rear foot of jump part is landed, then powered by electric capacity for electromagnet, produce moment pulling force, the connecting rod of hopping mechanism is pulled, the skip functionality of the mechanism is realized.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of hopping mechanism of robot.
Background technology
Hopping robot has the advantages that can be big, adaptable by complicated landform, scope of activities, as robot neck
The focus of domain research and development.The difference of jumping mode is realized according to robot, robot can be divided into batch (-type) hopping robot
With continuity hopping robot；According to leaping legs number, robot can be divided into monopodia hopping robot and polypody jump machine
Device people；According to the difference of mechanical structure, cylinder type robot and joint type hopping robot can be divided into.
Earliest hopping robot is a kind of monopodia hopping robot that MIT in 1980 is developed, more representative afterwards
The three generations hopping robot of hopping robot including NASA, arch monopodia hopping mechanism, swinging joint hopping mechanism and each
Plant bionic kangaroo-hopping robot.The research of domestic bionic kangaroo-hopping robot is also in the starting stage, in the research in this field
Hold focus primarily upon kinematics, dynamics, speed and power transfer performance and other about bionic kangaroo-hopping robot motion
The research of aspect of performance.It is to imitate the research in terms of locust, kangaroo, frog robot to compare at present representational.
The type of drive of hopping robot directly affects the performance and structure of hopping robot, the drive having been carried out at present
Flowing mode mainly has：(1) elastic body drives, and refers to the elastic force produced using specific mechanical mechanism to realize jump.This is one
The hop robot construction method for being easier to realize is planted, the elastic component that can be used includes spring, elastic rod etc..It is simple to jump
This construction method being used jump robot more.(2) interior energy and chemical energy driving, refer to utilize hydraulic pressure, pneumatic interior energy and burning
The hopping mechanism for changing energy and structure of blast, has the advantages that small volume, driving force are big and energy density is high.This construction method
The volume of hopping robot can be reduced, so as to greatly increase the movable model of hopping robot while skip capability is lifted
Enclose.
But the hopping robots driven with elastic body or interior energy and chemical energy most of at present can only be one straight
Row jump, and can not complete only jumping whenever necessary, other when non-hopping advance purpose, less efficient, flexible performance
Not good, it is difficult to be moved under complicated landform, it is impossible to farthest to adapt to the work under various environment, bionical purpose is real
Existing deficiency.
The content of the invention
It can be realized only in the hopping mechanism just jumped whenever necessary it is an object of the invention to provide a kind of.
In order to realize the above object the invention provides a kind of reluctance type hopping mechanism based on electric capacity, including jump machine
Structure, electric capacity, transformer and electromagnet and first switch；
Series connection forms loop between electric capacity, electromagnet and first switch, after transformer is connected with power sources in series, with electric capacity
Two ends or the two ends of electromagnet be connected；
Electromagnet is in electromagnet cylinder；Electromagnet cylinder is on pedestal；
Hopping mechanism includes first connecting rod and second connecting rod；The lower end of first connecting rod is articulated with the pulling force end of electromagnet, the
The upper end of one connecting rod and the upper end of second connecting rod are hinged, and the joining of two second connecting rods is articulated with electromagnet by a rotating shaft
In any of cylinder appearance, and it is located at the central shaft axial symmetry of two groups of first connecting rods of the same side, second connecting rod relative to the side；
Electromagnet is used to change the angle angle between first connecting rod, second connecting rod.
As preferred, the upper end of second connecting rod is in " 7 " font.
As preferred, in addition to expansion link；
Expansion link includes outer bar and interior bar, the external screw thread that interior bar cylinder surface is provided with, the interior spiral shell being provided with outer bar inner surface
Line matches, and interior bar is fixed on pedestal, and outer bar is fixed on electromagnet cylinder both sides；First motor is rotated, and is passed by drive
Dynamic interior bar rotates interior bar, and then makes interior bar flexible relative to outer bar.
As preferred, in addition to synchronizing wheel；
The rotation of interior bar in the synchronous two groups of expansion links of synchronizing wheel.
As preferred, in addition to climbing mechanism；Climbing mechanism includes the front foot positioned at left side, metapedes and positioned at right side
Front foot and metapedes；The left side structure of climbing mechanism is identical with right side structure；
The top of front foot and one end of third connecting rod, crank are hinged, the second motor drive crank rotate, front foot it is vertical
Direction is provided with chute, and gag lever post level is fixed on pedestal through in the chute of two front foots；Third connecting rod it is another
The central portion with metapedes is held to be hinged, the upper horizontal of metapedes is provided with limited screw, and limited screw is hingeably secured on pedestal；
When second motor is rotated, the crank positioned at left side misplaces with the crank positioned at right side to be rotated.
As preferred, close to the bottom cladding rubber sleeve of the second connecting rod of front foot.
As preferred, the bottom close to the second connecting rod of metapedes is provided with roller.
As preferred, the first motor is provided with single-pole double-throw switch (SPDT), stirs single-pole double-throw switch (SPDT), and the first motor of control is positive
Or rotate backward.
In the present invention, robot overall structure is simplified, lighter weight, and mobility is good, and two kinds of motion modes are mutual not
Disturb and switching freely can carried out whenever necessary.Steadily advance when creeping, speed is moderate, antijamming capability is stronger；
Jump can be quickly completed, and height of jumping is moderate, can cross general barrier, will not damage crawling structure when falling again.
After robot is fallen, it can crawl or jump again, concentrate the function of vertical jump in succession and interval jump.
Compared to traditional leg formula and wheeled robot, the reluctance type hopping robot that the present invention is provided can run into it is non-
Jump is completed during level terrain, scope of activities is big, possesses the ability moved in complicated landform.Common hopping robot can only one
Straight row jump, less efficient, flexible performance is not good, and reluctance type hopping robot is only jumped when needing jump, puts down
Shi Zhengchang creeps, and integrates vertical jump in succession and interval jump, and motion mode is flexible and changeable, can farthest adapt to ring
Border.
Brief description of the drawings
Fig. 1 is the structure front view of an embodiment of the present invention.
Fig. 2 is the structure top view of an embodiment of the present invention.
Fig. 3 is the hindfoot portions structure chart of an embodiment of the present invention.
Fig. 4 is front foot and metapedes annexation structure chart in an embodiment of the present invention.
Fig. 5 is the left and right sides front foot mating part structure chart of an embodiment of the present invention.
Fig. 6 is the circuit diagram of an embodiment of the present invention.
Fig. 7 is the dimensional structure diagram of an embodiment of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with each reality of the accompanying drawing to the present invention
The mode of applying is explained in detail.
In order to solve the above technical problems, the first embodiment of the present invention provides a kind of reluctance type jump based on electric capacity
Mechanism, including hopping mechanism 1, electric capacity, transformer, expansion link 3, synchronizing wheel, climbing mechanism 4, electromagnet and first switch；
Series connection forms loop between electric capacity, electromagnet and first switch, after transformer is connected with power sources in series, with electric capacity
Two ends or the two ends of electromagnet be connected；
Electromagnet is in electromagnet cylinder 2；Electromagnet cylinder 2 is on pedestal；
Hopping mechanism 1 includes first connecting rod 11 and upper end is in the second connecting rod 12 of " 7 " font；The lower end of first connecting rod 11
The pulling force end of electromagnet is articulated with, the upper end and the upper end of second connecting rod 12 of first connecting rod 11 are hinged, two second connecting rods 12
Joining by a rotating shaft be articulated with the appearance of electromagnet cylinder 2 a little on, and positioned at the same side two groups of first connecting rods 11,
Central shaft axial symmetry of the second connecting rod 12 relative to the side；Electromagnet is used to change between first connecting rod 11, second connecting rod 12
Angle angle.
Expansion link 3 includes outer bar 31 and interior bar 32, and the external screw thread that the cylinder surface of interior bar 32 is provided with is set with the inner surface of outer bar 31
Some internal threads match, and interior bar 32 is fixed on pedestal, and outer bar 31 is fixed on the both sides of electromagnet cylinder 2；First motor is rotated,
Being driven interior bar 32 by drive rotates interior bar 32, and then makes interior bar 32 flexible relative to outer bar 31.
The rotation of interior bar 32 in the synchronous two groups of expansion links 3 of synchronizing wheel.
Climbing mechanism 4 includes front foot 41, metapedes 42 and the front foot 41 and metapedes 42 positioned at right side positioned at left side；Creeper
The left side structure of structure 4 is identical with right side structure；
One end of the top of front foot 41 and third connecting rod 43, crank 44 are hinged, and the second motor 48 drives crank 44 to rotate,
The vertical direction of front foot 41 is provided with chute 45, and the level of gag lever post 46 is fixed on through in the chute 45 of two front foots 41
On pedestal；The central portion of the other end of third connecting rod 43 and metapedes 42 is hinged, and the upper horizontal of metapedes 42 is provided with limited screw
47, limited screw 47 is hingeably secured on pedestal；
When second motor 48 is rotated, the crank 44 positioned at left side misplaces with the crank 44 positioned at right side to be rotated.
Preferably, the bottom cladding rubber sleeve of the second connecting rod 12 close to front foot 41, close to the described of the metapedes 42
The bottom of second connecting rod 12 is provided with roller.
Preferably, the first motor is provided with single-pole double-throw switch (SPDT), single-pole double-throw switch (SPDT) is stirred, the first motor of control is positive or anti-
To rotation.
In the present embodiment, robot circuit part and uncomplicated, as shown in fig. 6, be divided into three shared power supplys and
Join independent circuits, each action operation of the overall control machine people by the way of line traffic control.Circuit element uses power supply one, rises
Depressor one, single-pole single-throw switch (SPST) three, single-pole double-throw switch (SPDT) one, two, motor, electromagnet one and electric capacity one.
Supply voltage used in circuit is 3.7V, and the electromagnet of selection is SA-2602 alternating current tracting magnets.Electromagnet is specified
Voltage 220V, rated frequency 50Hz, it is adaptable to exchange 50/60Hz, rated voltage in 380V and following circuit, net weight
0.52Kg, has the advantages that small volume, lightweight, adhesive discharge fast, power consumptive province.Electromagnet rated attraction force 20N, the specified row of armature
Journey 15mm, per hour nominal operation number of times 1200 times can meet the requirement of each item data of circuit well.Capacitance according to
The overall weight of robot, expected jump height and circuit other elements relevant parameter are calculated and obtained, and are ultimately determined to 1000uF,
The electric capacity rated voltage is 450V.
In the present invention, each branch is not interfere with each other, and is powered by same power supply, and switch is not placed on robot, but
Concentrate on one piece of control panel, alleviate the weight of robot itself, while being easy to manual manipulation.
In jump partial circuit, cell voltage about 3.7V, and electric capacity rated voltage is 450V, it is therefore desirable to first pass through
Booster is raised to high voltage, then ON switch 1 charges to electric capacity.It is anti-in the case where needing to jump after electric capacity is full of
Only short circuit is caused danger, the switch of first deenergization side, then connects first switch, and now electric capacity discharges electromagnet, electricity
Magnet coil is produced impulse force, changed power by connecting rod, by the reaction force on ground by very high current, band moving armature
Robot is set to takeoff.
Creep in partial circuit, only by switching the operation and stopping of controlled motor, motor drives the connecting rod for part of creeping
Structure, so as to reach the purpose of manipulation crawling exercises.
In the partial circuit of expansion link 3, directly powered by battery for motor, the effect of single-pole double-throw switch (SPDT) is to carry out motor just
Turn the switching of reversion, control the direction of rotation of interior bar 32, so as to manipulate the flexible of expansion link 3.
In the present invention, power required during jump is provided using electromagnet.Electromagnet structure and operation principle are determined
It can only provide pulling force, so to install bar linkage structure additional outside electromagnet is converted into thrust by pulling force.
It will be noted from fig. 1 that jump structure is by an electromagnet, four identical first connecting rods 11 and four identicals
Second connecting rod 12 is constituted, and is hinged between each part, and all joint junctions are all rubbed using bearing to reduce
Wipe.The distance between the right and left bar is slightly larger than the width of electromagnet, and central shaft is left at the middle part of second connecting rod 12, and central shaft is fixed
On bottom plate, second connecting rod 12 can rotate around central shaft.All bars are all cut into by 3mm steel plates, and mechanical strength is very big, are used
To sustain the larger reaction force of the larger impulse force of electromagnet and ground.
In jump partial circuit, when switching off for mains side, then when connecting the switch of jump loop side, electric capacity is put
Electricity, electromagnet coil is moved downward rapidly by very high current, armature, pulls first connecting rod 11 to move down, and drives second to connect
Bar 12 rotates around central shaft, jump leg angle is diminished, and produces downward impulsive force, and the reaction force on ground completes robot
Jump.
Because robot can jump out certain distance forward in jump with certain initial velocity, therefore after jumping up, still
Practice have shown that the skip distance very little reached by the initial velocity of robot forward.In order to allow robot jump out forward it is larger away from
From we install rubber sleeve additional at two forelegs that jump, i.e., pretend rubber in two bottoms of second connecting rod 12 close to the side of front foot 41
Small wheels are installed additional at gum cover, two jump back legs, and the difference of leg generation frictional force can allow robot forward before and after jump moment
Jump farther distance.
In order to not allow jump part to clip ground in crawling process, prevent its friction interference between ground from creeping fortune
It is dynamic, in the present invention, the structure of expansion link 3 is devised to pack up jump part in crawling process, while also can need to jump
During jump will jump part put down, reach two kinds motion can high efficiency carry out purpose, two kinds of motions is cut each other
Change freely.For example, when packing up jump part, positive direction rotates the first motor, electromagnet cylinder 2 is increased, now first connects
Angle between bar 11 becomes big, and then drives the angle between second connecting rod 12 to become big, the lower end of second connecting rod 12 is increased.
When putting down jump part, opposite direction rotates first electrode, declines electromagnet cylinder 2, now the angle between first connecting rod 11
Diminish, and then drive the angle between second connecting rod 12 to diminish, decline the lower end of second connecting rod 12.
3 points of expansion link is interior bar 32 and outer bar 31, and there is screw thread the outside of interior bar 32 and the inner side of outer bar 31, and the center of outer bar 31 is engraved
Sky, is put into interior bar 32, seamless applying each other, and flexible effect is reached by relative rotary motion.Interior bar 32 is solid by bearing
It is scheduled on bottom plate, outer bar 31 is fixed on electromagnet front and rear sides.We used the expansion link 3 of former and later two high degree of symmetry, two
Individual interior bar 32 keeps identical motion state by the synchronizing wheel moment, and control interior bar 32 to rotate by motor makes to stretch to reach
The flexible purpose of bar 3.The rating of electric machine that expansion link 3 is used is identical with the rating of electric machine that part of creeping is used.
In crawling process, motor is driven forward interior bar 32 and rotated forward, and extends expansion link 3, because interior bar 32 is fixed on
No upper and lower displacement is ensured on bottom plate, therefore motion with motor magnet so as to move up upwards for outer bar 31, simultaneously as jump part
The central shaft of second connecting rod 12 is fixed on bottom plate, and electromagnet can drive second connecting rod 12 around central axis, causes the leg that jumps
Angle increases, to reach the purpose packed up；Conversely, in the case where needing to jump, motor reversal driving interior bar 32 is reversely rotated,
Shorten expansion link 3, so as to then reach the purpose put down.
Because electromagnet can not be reprocessed in itself, in order to which the outer bar 31 of expansion link 3 can be fixed on electromagnet, I
Install the steel plate of customization additional outside electromagnet, the electromagnet cylinder 2 for making a similar set wraps up electromagnet, expansion link
3 outer bars 31 are fixed by screws on steel plate.
Robot crawling structure is made up of four-footed, and the right and left respectively has a front foot 41 and a metapedes 42, and front foot 41 is omited
Higher than metapedes 42, each foot is made up of steel plate.The motion of whole crawling structure, common electric machine rotating speed mistake are driven by a motor
It hurry up, we add gear train to reduce rotating speed.Torsion can also be allowed to increase simultaneously, prevent that is blocked in motion process to ask
Topic.
The structure chart of the part of metapedes 42 is as shown in figure 3, the top of metapedes 42 on crawling structure both sides is hinged with substrate
Limited screw 47, constrains hunting range, and center section is hinged with third connecting rod 43, and then passes through third connecting rod 43 and front foot
41 are connected.
In the present invention, " slide block mechanism of wobble crank 44 " is employed, i.e., one kind can be converted rotational motion into back and forth
The linkage of oscillating motion, as shown in figure 4, its primary structure is：The side that swing rod one is fixed on a crank 44, swing rod
With guide groove.The top of front foot 41 is joint hinge, crank 44 is connected with above, lower part is chute 45, by gag lever post
46 control the scope that it swings.With one side front foot 41 and metapedes 42 by middle third connecting rod 43 hinged, front foot
41 crank 44 is connected with metapedes 42, can together complete action of creeping.
In order to allow the robot to allow two group two of left and right foot alternately to take a step forward to walk, in the present invention, left and right has been used
Two sets of identical linkages, and install in coaxial fashion, as shown in figure 5, the position of the hinge joint of two connecting rods point
Contrast, i.e., be located at two on one diameter line of rotating disk, form a dislocation respectively, that is, crank 44 is connected with rotating disk
Position contrast so that the state that two sets of left and right linkage is moved on the same time is just on the contrary, a for example, position
The position that another is placed exactly in rightmost when leftmost position, one be located at highest position when another
Minimum position is placed exactly in, so as to complete the motion leapfroged.Before two of the slide block mechanism of crank 44 direct drive four-footed
Foot 41, is then linked for two metapedes 42 by simple linkage.Two front foots 41 are in the way of " dragging "
Take a step forward, then whenever there are three legs to land to keep one's balance.
The respective embodiments described above are to realize the specific embodiment of the present invention, it will be understood by those skilled in the art that
And in actual applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (8)
1. a kind of reluctance type hopping mechanism based on electric capacity, it is characterised in that including hopping mechanism (1), electric capacity, transformer and electricity
Magnet and first switch；
Series connection forms loop between the electric capacity, electromagnet and first switch, after the transformer is connected with power sources in series, with
The two ends of the electric capacity or the two ends of the electromagnet are connected；
The electromagnet is in electromagnet cylinder (2)；The electromagnet cylinder (2) is on pedestal；
The hopping mechanism (1) includes first connecting rod (11) and second connecting rod (12)；The lower end of the first connecting rod (11) is hinged
In the pulling force end of the electromagnet, the upper end and the upper end of the second connecting rod (12) of the first connecting rod (11) are hinged, two
The joining of the second connecting rod (12) by a rotating shaft be articulated with electromagnet cylinder (2) appearance a little on, and position
In the central shaft axial symmetry of first connecting rod (11), second connecting rod (12) relative to the side described in two groups of the same side；The electromagnetism
Iron is used to change the angle angle between the first connecting rod (11), second connecting rod (12).
2. the reluctance type hopping mechanism according to claim 1 based on electric capacity, it is characterised in that the second connecting rod (12)
Upper end be in " 7 " font.
3. the reluctance type hopping mechanism according to claim 1 based on electric capacity, it is characterised in that also including expansion link (3)；
The expansion link (3) includes outer bar (31) and interior bar (32), the external screw thread that interior bar (32) cylinder surface is provided with, with institute
State the internal thread that outer bar (31) inner surface is provided with to match, the interior bar (32) is fixed on pedestal, the outer bar (31) is fixed
In electromagnet cylinder (2) both sides；First motor is rotated, and being driven the interior bar (32) by drive makes the interior bar (32)
Rotate, and then make the interior bar (32) flexible relative to the outer bar (31).
4. the reluctance type hopping mechanism according to claim 3 based on electric capacity, it is characterised in that also including synchronizing wheel；
The rotation of interior bar (32) in expansion link (3) described in the synchronizing wheel is synchronous two groups.
5. the reluctance type hopping mechanism according to claim 1 based on electric capacity, it is characterised in that also including climbing mechanism
(4)；The climbing mechanism (4) includes front foot (41), metapedes (42) and the front foot (41) and metapedes positioned at right side positioned at left side
(42)；The left side structure of the climbing mechanism (4) is identical with right side structure；
The top of the front foot (41) is hinged with one end of third connecting rod (43), crank (44), and the second motor (48) drives institute
Crank (44) rotation is stated, the vertical direction of the front foot (41) is provided with chute (45), and gag lever post (46) level is through two
In the chute (45) of front foot (41), and it is fixed on the pedestal；The other end and metapedes of the third connecting rod (43)
(42) central portion is hinged, and the upper horizontal of the metapedes (42) is provided with limited screw (47), limited screw (47) hinge
Connect and be fixed on the pedestal；
When second motor (48) rotates, the crank (44) positioned at left side misplaces with the crank (44) positioned at right side
Rotation.
6. the reluctance type hopping mechanism according to claim 5 based on electric capacity, it is characterised in that close to the front foot (41)
The second connecting rod (12) bottom cladding rubber sleeve.
7. the reluctance type hopping mechanism according to claim 5 based on electric capacity, it is characterised in that close to the metapedes (42)
The bottom of the second connecting rod (12) roller is installed.
8. the reluctance type hopping mechanism according to claim 3 based on electric capacity, it is characterised in that first motor is provided with
Single-pole double-throw switch (SPDT), stirs the single-pole double-throw switch (SPDT), controls first motor to rotate forward or backwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610130708.8A CN105584555B (en) | 2016-03-08 | 2016-03-08 | Reluctance type hopping mechanism based on electric capacity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610130708.8A CN105584555B (en) | 2016-03-08 | 2016-03-08 | Reluctance type hopping mechanism based on electric capacity |
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| CN105584555A CN105584555A (en) | 2016-05-18 |
| CN105584555B true CN105584555B (en) | 2017-10-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108146534A (en) * | 2018-02-13 | 2018-06-12 | 顾荣祥 | A kind of solar powered quadruped robot of environmentally friendly construction |
| CN109774815B (en) * | 2018-11-21 | 2021-05-14 | 中北大学 | Conversion walking method of fire-fighting robot |
| CN111055946B (en) * | 2019-02-09 | 2021-10-22 | 孙风云 | Obstacle crossing device and mobile equipment provided with same |
| CN115123415B (en) * | 2022-08-01 | 2023-05-12 | 哈尔滨工业大学（深圳） | Miniature jumping robot based on isolated locust rear legs |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7249640B2 (en) * | 2001-06-04 | 2007-07-31 | Horchler Andrew D | Highly mobile robots that run and jump |
| CN102092428B (en) * | 2011-02-11 | 2012-05-30 | 北方工业大学 | Four-bar mechanism based wheel-type hopping mechanism |
| CN103010327B (en) * | 2012-12-21 | 2015-04-01 | 东南大学 | Single-motor driven climbing jumping robot |
| CN103171641B (en) * | 2013-03-19 | 2015-07-15 | 浙江大学 | Hopping robot with wheel movement function |
| CN203111341U (en) * | 2013-03-19 | 2013-08-07 | 浙江大学 | Hopping robot with wheeled function |
| CN104627263B (en) * | 2014-12-12 | 2018-01-02 | 重庆大学 | Bionic kangaroo-hopping robot |
| CN104590412B (en) * | 2014-12-24 | 2017-01-11 | 浙江理工大学 | Multifunctional bionic jumping and walking robot |
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