CN105620582A - Four-foot bio-robot with eight-rod metamorphic mechanism used on waist and driving method thereof - Google Patents
Four-foot bio-robot with eight-rod metamorphic mechanism used on waist and driving method thereof Download PDFInfo
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- CN105620582A CN105620582A CN201610150579.9A CN201610150579A CN105620582A CN 105620582 A CN105620582 A CN 105620582A CN 201610150579 A CN201610150579 A CN 201610150579A CN 105620582 A CN105620582 A CN 105620582A
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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
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Abstract
The invention discloses a four-foot bio-robot with an eight-rod metamorphic mechanism used on the waist.The bio-robot comprises a closed chain and a plurality of open chains; the closed chain is the eight-rod metamorphic mechanism composed of rods from the first one to the eighth one; the lengths of the first rod, the fourth rod, the fifth rod and the eighth rod are the same, the lengths of the second rod and the seventh rod are the same, and the lengths of the third rod and the sixth rod are the same; the structures of the open chains are the same, each open chain is a 2R series-connection mechanism and hinged to one rod piece in the closed chain through a rotating hinge, and rods in the open chains are located in the same plane.The eight-rod metamorphic mechanism is applied to the waist of the multi-foot bio-robot, by means of the allosterism and the variable degrees of freedom of the metamorphic mechanism, the waist of the multi-foot bio-robot can deform in different driving modes, and therefore the bio-robot can simulate the waist structures of various animals, simulation of various animals is achieved, the advantages of various animals are integrated, and flexibility of the multi-foot bio-robot and the adaptability to various terrain environments are improved.
Description
Technical field
The invention belongs to bionic machine people's technical field, it relates to a kind of waist uses the four-leg bionic robot of eight bar metamorphic mechanisms.
Background technology
Polypody bionic machine people's structure is simple and flexible, and supporting capacity is strong, good stability, can not only walk, stride across bigger obstacle (such as trench, rock etc.) easily on the non-structural road surface of complexity, and can realize mobile fast with dynamic gait. Polypody bionic machine people can replace people to complete many hazardous operations, has broad application prospects in fields such as military affairs, mining, nuclear power industry, celestial body detecting, fire-fighting rescue, construction industry, agricultural felling, education amusements.
But, tradition polypody bionic machine people is when imitating animal, and focus concentrates on leg structure mostly, and does not usually give too many concern for waist structure. Tradition polypody bionic machine people's waist generally adopts rigid structure. Its shortcoming is: 1) waist is immovable, only plays a part to support and carrier table, and motion and posture to robot do not play any effect. 2) waist of polypody bionic machine people rigid structure, its shape cannot be changed, the relative position of each bar leg of robot remains unchanged, the actions such as robot can only realize walking by changing leg attitude, runs, avoidance and turning, the motion of bionic machine people and adapt are not played any effect by waist, and the waist structure of rigidity significantly limit robot overall work space and flexibility ratio. 3) polypody bionic machine people rigidity waist limits robot to the adjusting function of self center of gravity so that the stable nargin of robot ambulation is very little, there is critical stable state in gait, walking process Stability Control difficulty height. 4) gait planning aspect, bionic machine people's gait of rigidity waist is limited, cannot realize the action being similar to bend over up and down, face upward waist, the torsion waist of animal. 5) rigidity waist cannot play the effect of bumper and absorbing shock, also limit walking speed simultaneously. 6) tradition bionic machine people can only imitate specific a kind of animal, can not imitate the form of multiple animal simultaneously. Prior art has the polypody bionic machine people reporting a kind of usage space six bar metamorphic mechanisms, space six bar metamorphic mechanisms in this polypody bionic machine people employs two Hooke's hinges, Hooke's hinge is difficult to Direct driver, the transmission mechanism such as belt, tooth bar need to be used to drive so that it is have deficiency in mechanical movement efficiency.
Summary of the invention
Two Hooke's hinges are used to be difficult to the problem of Direct driver for space six bar metamorphic mechanisms in the tradition limitation of polypody climbing robot and polypody bionic machine people. The present invention provides a kind of waist to use the four-leg bionic robot of eight bar metamorphic mechanisms, and this bionic machine people's waist can bend right and left and doubling, has distortion flexibly, the feature that adaptive ability is strong, and can realize multiple different Direct driver form.
In order to solve the problems of the technologies described above, a kind of waist that the present invention proposes uses the four-leg bionic robot of eight bar metamorphic mechanisms, comprising a closed chain and four open chains, described closed chain is the eight bar metamorphic mechanisms being made up of the first bar connected in turn, the 2nd bar, the 3rd bar, the 4th bar, the 5th bar, the 6th bar, the 7th bar and the 8th bar; The two ends of the first bar are connected with one end of the 8th bar with one end of the 2nd bar with the 2nd turning joint by the first turning joint respectively, and the first turning joint is mutually vertical with the axis of the 2nd turning joint; The two ends of the 5th bar are connected with one end of the 6th bar with one end of the 4th bar with the 4th turning joint by the 3rd turning joint respectively, and the 3rd turning joint is mutually vertical with the axis of the 4th turning joint; The two ends of the 3rd bar are connected with the other end of the 2nd bar with the other end of the 4th bar with the 7th turning joint by the 5th turning joint respectively, and the axis of the 5th turning joint and the 7th turning joint is parallel to each other; The two ends of the 7th bar are connected with the other end of the 8th bar with the other end of the 6th bar with the 8th turning joint by the 6th turning joint respectively, and the axis of the 6th turning joint and the 8th turning joint is parallel to each other; Described first bar, the 8th bar, the 5th bar are identical with the 4th pole length, and described 3rd bar is identical with the 6th pole length, and described 2nd bar is identical with the length of the 7th bar; Article four, the structure of open chain is identical, the structure of every bar of open chain is: comprise the 9th bar, the tenth bar and the 11 bar that are positioned at same plane, the two ends of described tenth bar are connected with the 11 bar with the 9th bar with the tenth turning joint by the 9th turning joint respectively, and the axis of described 9th turning joint and the tenth turning joint is parallel to each other; Article four, described 9th bar in open chain is hinged by the 11 turning joint and the 2nd bar, the 3rd bar, the 6th bar and the rotation of the 7th bar respectively, is positioned at the axis being parallel of the axis of the 11 turning joint of the 2nd bar and two, the 3rd bar and the 7th turning joint, is positioned at the axis of two the 11 turning joints of the 6th bar and the 7th bar and the axis being parallel of the 6th turning joint; Four the 11 turning joints all drop in the plane at the 9th bar, the tenth bar and the 11 bar place. Select to drive in the first turning joint, the 4th turning joint, the 5th turning joint, the 6th turning joint, the 7th turning joint, the 8th turning joint any three add any one in the 2nd turning joint and the 3rd turning joint or two can drive this closed linkage, meanwhile, drive described 9th turning joint in every bar of open chain, the tenth turning joint and connect the 11 turning joint of closed chain and open chain.
Further, when the angle of the first bar and the 2nd bar is equal with the angle of the 3rd bar and the 4th bar, the axis of described 2nd turning joint and the axis collinear of the 3rd turning joint. Drive the 2nd turning joint turn an angle the 3rd turning joint turns an angle or simultaneously drive the 2nd turning joint and the 3rd turning joint rotate equal angular the first bar, the 2nd bar, the 3rd bar, the 4th bar place plane can be made to rotate relative to the 5th bar, the 6th bar, the 7th bar, the 8th bar place plane around the 2nd turning joint with the 3rd turning joint place axis; Then, select to drive any one in the first turning joint, the 4th turning joint, the 5th turning joint, the 6th turning joint, the 7th turning joint, the 8th turning joint; Meanwhile, drive described 9th turning joint in every bar of open chain, the tenth turning joint and connect the 11 turning joint of closed chain and open chain.
The described axis of the 2nd turning joint overlaps with the friendship line of the upper surface of the first bar and the upper surface of the 8th bar, the axis of described 3rd turning joint overlaps with the friendship line of the upper surface of the 4th bar and the upper surface of the 5th bar. when driving the 2nd turning joint rotation 180 degree or the 3rd turning joint rotate 180 degree or driving the 2nd turning joint and the 3rd turning joint rotation 180 degree simultaneously, the upper surface of the first bar can be made to overlap with the upper surface of the 8th bar, the upper surface of the 2nd bar overlaps with the upper surface of the 7th bar, the upper surface of the 3rd bar overlaps with the upper surface of the 6th bar, the upper surface of the 4th bar overlaps with the upper surface of the 5th bar, the axis of the first turning joint overlaps with the axis of the 8th turning joint, the axis of the 4th turning joint overlaps with the axis of the 5th turning joint, the axis of the 6th turning joint overlaps with the axis of the 7th turning joint, the axis of the 11 turning joint being positioned at the first bar overlaps with the axis of the 11 turning joint being positioned at the 7th bar, the axis of the 11 turning joint being positioned at the 3rd bar overlaps with the axis of the 11 turning joint being positioned at the 6th bar, select to drive any three in the first turning joint, the 4th turning joint, the 5th turning joint, the 6th turning joint, the 7th turning joint, the 8th turning joint, meanwhile, drive described 9th turning joint in every bar of open chain, the tenth turning joint and connect the 11 turning joint of closed chain and open chain.
The axis of described first turning joint, the 4th turning joint is parallel to each other. Select to drive any three in the first turning joint, the 4th turning joint, the 5th turning joint, the 6th turning joint, the 7th turning joint, the 8th turning joint; Meanwhile, drive described 9th turning joint in every bar of open chain, the tenth turning joint and connect the 11 turning joint of closed chain and open chain.
Compared with prior art, the invention has the beneficial effects as follows:
Due to the benefit that constructional feature is brought, metamorphic mechanisms is applied to the waist of polypody bionic machine people by the present invention, metamorphic mechanisms changing mechanism structure state in moving process is made by different type of drive, degree of freedom, achieve the change of waist configuration, the left and right doubling of waist energy, thus imitate the waist structure of all kinds of animal better, realize multiclass animal is bionical, integrate multiclass animal advantage, comprise the speed of mammal, the handiness of reptile and the stability of insects animal, and then improve polypody bionic machine people handiness and to the adaptive faculty of different terrain environment, realize more application. the problem of Direct driver it is difficult to for Hooke's hinge in the space six bar metamorphic mechanisms that bionic machine people in prior art uses, propose by Hooke's hinge two orthogonal rotation axis separately, independent placement, show that all kinematic pairs are the space eight bar metamorphic mechanisms of turning joint, make all turning joints can convenient Direct driver, raising mechanical movement efficiency is of great advantage.
Accompanying drawing explanation
Fig. 1 is the closed linkage schematic diagram of bionic machine people of the present invention;
Fig. 2 is the structural representation of a wherein open chain of bionic machine people of the present invention;
Fig. 3 is bionic machine people's embodiment one waist of the present invention is the structural representation that plane structure state imitates lizard;
Fig. 4 is bionic machine people's embodiment one waist of the present invention is the structural representation that plane structure state imitates doggie;
Fig. 5 is bionic machine people's embodiment one waist of the present invention is the structural representation that plane structure state imitates spider;
Fig. 6 is bionic machine people's embodiment one waist of the present invention is the structural representation that plane structure state imitates walkingstick;
Fig. 7 is the structural representation of one of the example that bends right and left of bionic machine people's embodiment two waist of the present invention;
Fig. 8 is the structural representation of the two of the example that bionic machine people's embodiment two waist of the present invention bends right and left;
Fig. 9 is the structural representation of the three of the example that bionic machine people's embodiment two waist of the present invention bends right and left;
Figure 10 is the structural representation that mantis is imitated in bionic machine people's embodiment three waist left and right of the present invention doubling.
Embodiment
Technical solution of the present invention being described in further detail below in conjunction with the drawings and specific embodiments, it describes is only that explanation of the invention illustrates, not in order to limit the present invention.
As shown in Figure 1, the two ends of the first bar 1 are connected with one end of the 8th bar 8 with one end of the 2nd bar 2 with the 2nd turning joint 10 by the first turning joint 9 respectively, and the first turning joint 9 is mutually vertical with the axis of the 2nd turning joint 10; The two ends of the 5th bar 5 are connected with one end of the 6th bar 6 with one end of the 4th bar 4 with the 4th turning joint 12 by the 3rd turning joint 11 respectively, and the 3rd turning joint 11 is mutually vertical with the axis of the 4th turning joint 12; The two ends of the 3rd bar 3 are connected with the other end of the 2nd bar 2 with the other end of the 4th bar 4 with the 7th turning joint 15 by the 5th turning joint 13 respectively, and the axis of the 5th turning joint 13 and the 7th turning joint 15 is parallel to each other; The two ends of the 7th bar 7 are connected with the other end of the 8th bar 8 with the other end of the 6th bar 6 with the 8th turning joint 16 by the 6th turning joint 14 respectively, and the axis of the 6th turning joint 14 and the 8th turning joint 16 is parallel to each other. Described first bar 1, the 4th bar 4, the 5th bar 5, the 8th bar 8 length are identical, and described 2nd bar 2 is identical with the 7th bar 7 length, and described 4th bar 4 is identical with the length of the 6th bar 6. And, the axis of described first turning joint 9, the 4th turning joint 12, the 5th turning joint 13, the 6th turning joint 14 and the 7th turning joint 15 is parallel to each other.
As shown in Figure 2, the structure of four open chains is identical, and every bar open chain is a 2R serial mechanism. Its structure is that every bar of open chain comprises the 9th bar 17, the tenth bar the 18 and the 11 bar 19 respectively, described 9th bar 17, the tenth bar the 18 and the 11 bar 19 are positioned at same plane, the two ends of described tenth bar 18 are connected with the 11 bar 19 with the 9th bar 17 with the tenth turning joint 21 by the 9th turning joint 20 respectively, and the axis of described 9th turning joint 20 and the tenth turning joint 21 is parallel to each other.
Because closed linkage is a metamorphic mechanisms in Bian Bao of the present invention four-leg bionic robot, therefore multiple animal form can be imitated by changing the form of closed chain structure state and corresponding adjustment four open chains.
In the present invention, closed linkage comprises eight turning joints altogether, as shown in Figure 2, select the first turning joint 9, 4th turning joint 12, 5th turning joint 13, 6th turning joint 14, 7th turning joint 15, as driving, any one or two that add the 2nd turning joint 10 and the 3rd turning joint 11 can drive this closed linkage in 8th turning joint 16 any three, simultaneously, drive described 9th turning joint 20 in every bar of open chain, 11 turning joint 22 of the tenth turning joint 21 and connection closed chain and open chain, thus make polypody bionic machine people of the present invention imitate multiple different animals form.
The present invention can have multiple different drive form, practical application can be used on a selective basis, its principle preferentially is: ensure can realize driving completely under various structure state, and pressure angle is less in driving process, symmetrical as far as possible in addition, even to ensure whole closed linkage mass distribution.
Embodiment one, waist use the four-leg bionic robot of eight bar metamorphic mechanisms, and eight bar metamorphic mechanisms of waist are in plane structure state.
The eight-linkage mechanism of waist being the present invention such as Fig. 3, Fig. 4, Fig. 5, Fig. 6 is in the embodiment of plane structure state, comprises a closed chain and four open chains. Described closed chain is the eight bar metamorphic mechanisms being made up of the first bar 1 connected in turn, the 2nd bar 2, the 3rd bar 3, the 4th bar 4, the 5th bar 5, the 6th bar 6, the 7th bar 7 and the 8th bar 8.
Such as Fig. 3, Fig. 4, Fig. 5, shown in Fig. 6, article four, the 9th bar 17 in open chain is respectively by the 11 turning joint 22 and the 2nd bar 2, 3rd bar 3, 6th bar 6 and the 7th bar 7 rotate hinged, article four, open chain and the 2nd bar 2, 3rd bar 3, the axis of four the 11 turning joints 22 between the 6th bar 6 and the 7th bar 7 and the axis being parallel of the first turning joint 9, namely the axis of the 11 turning joint 22 of the 2nd bar 2 and 3 two, the 3rd bar and the axis being parallel of the 7th turning joint 15 it is positioned at, it is positioned at the axis of two the 11 turning joints 22 of the 6th bar 6 and the 7th bar 7 and the axis being parallel of the 6th turning joint 14, four the 11 turning joints 22 all drop in the plane at the 9th bar 17, the tenth bar the 18 and the 11 bar 19 place.
Drive the 2nd turning joint 10 and the 3rd turning joint 11 or drive the 2nd turning joint 10 and the 3rd turning joint 11 to rotate certain equal angular simultaneously, the 4th bar 4 and the 5th bar 5 is made to keep conllinear and the first bar 1 and the 8th bar 8 conllinear, the axis of the first turning joint 9 and the axis being parallel of the 4th turning joint 12; With this, eight-linkage mechanism of Bian Bao of the present invention four-leg bionic robot waist is defined as plane structure state.
In the present embodiment, any three conducts in the first turning joint 9, the 4th turning joint 12, the 5th turning joint 13, the 6th turning joint 14, the 7th turning joint 15, the 8th turning joint 16 are selected to drive; Meanwhile, drive described 9th turning joint 20 in every bar of open chain, the tenth turning joint 21 and connect the 11 turning joint 22 of closed chain and open chain.
Below by the first turning joint 9 chosen in closed chain, the 4th turning joint 12 and the 8th turning joint 16, described 9th turning joint 20 in open chain, the tenth turning joint 21 and the 11 turning joint 22 that connects closed chain and open chain are described for driving joint.
Driving the first turning joint 9, the 4th turning joint 12, the 8th turning joint 16 to make the first bar 1 vertical with the 2nd bar 2, the 5th bar 5 is vertical with the 6th bar 6, and the 7th bar 7 is vertical with the 8th bar 8, the axis collinear of the 2nd turning joint 10 and the 3rd turning joint 11. At this moment closed chain structure state is the rectangle as shown in Fig. 3 kind. At this moment by driving the 9th turning joint 20 in each bar of open chain, the tenth turning joint 21 and connect the 11 turning joint 22 of closed chain and each open chain, make the tenth bar 18 level of approximation, 11 bar 19 near vertical, every bar open chain place plane and the corresponding bar near normal connecting this open chain in closed chain. At this moment what Bian Bao four-leg bionic robot imitated is the form of lizard, such as Fig. 3.
Fig. 3 basis keep the form of closed chain constant, drive the 9th turning joint 20 in every bar of open chain, the tenth turning joint 21 and connect the 11 turning joint 22 of closed chain and each open chain, tenth bar 18 is tilted downwards, 11 bar 19 near vertical, become special angle between tenth bar 18 and the 11 bar 19, and make every bar open chain place plane be similar to parallel with the corresponding bar connecting this open chain in closed chain. At this moment what Bian Bao four-leg bionic robot imitated is the form of dog, such as Fig. 4.
When Fig. 3 basis driving the first turning joint 9, the 4th turning joint 12, the 8th turning joint 16 make the angle of the first bar 1 and the 2nd bar 2 equal with the angle of the 3rd bar 3 and the 4th bar 4; The first turning joint 9, the 4th turning joint 12, the 8th turning joint 16 is driven to make the first bar 1 and the 2nd bar 2, the 3rd bar 3 and the 4th bar 4, the 7th bar 7 and 120 degree, the 8th 8 one-tenth, bar so that the 5th bar 5 and the 6th bar 6, the 2nd bar 2 and the angle between the 3rd bar 3, the 6th bar 6 and the 7th bar 7 are also 120 degree; Drive the 9th turning joint 20 in every bar of open chain, the tenth turning joint 21 simultaneously and connect the 11 turning joint 22 of closed chain and each open chain, tenth bar 18 is inclined upwardly, approximate 60 degree of angle between tenth bar the 18 and the 11 bar 19, and make every bar open chain place plane and the corresponding bar near normal connecting this open chain in closed chain. At this moment what Bian Bao four-leg bionic robot imitated is the form of spider, such as Fig. 5.
On Fig. 3 basis, 2nd bar 2, the 3rd bar 3, the 6th bar 6, the 7th bar 7 are done suitably process to eliminate possible interference, drive the first turning joint 9 make the first bar 1 become with the 2nd bar 2 angle 170 degree, drive the 4th turning joint 12 make the 5th bar 5 become with the 6th bar 6 angle 170 degree, driving the 8th turning joint 16 make the 7th bar 7 and 170 degree, the 8th 8 one-tenth, bar so that the 2nd bar 2 become with the 3rd bar 3 angle 20 degree, the 3rd bar 3 become the angle between the 170, the 6th bar 6 and the 7th bar 7 to become 20 degree with the 4th bar 4 angle; Drive the 9th turning joint 20 in every bar of open chain, the tenth turning joint 21 simultaneously and connect the 11 turning joint 22 of closed chain and each open chain, tenth bar 18 is inclined upwardly, approximate 60 degree of angle between tenth bar the 18 and the 11 bar 19, and make every bar open chain place plane and the corresponding bar near normal connecting this open chain in closed chain. At this moment what Bian Bao four-leg bionic robot imitated is the form of walkingstick, such as Fig. 6.
Embodiment two, waist use the four-leg bionic robot of eight bar metamorphic mechanisms, and eight bar metamorphic mechanisms of waist are in space structure state, the situation also namely bent over about Bian Bao of the present invention four-leg bionic robot.
The eight-linkage mechanism of waist being the present invention such as Fig. 7, Fig. 8, Fig. 9 is in the embodiment of plane structure state, comprises a closed chain and four open chains. Described closed chain is the eight bar metamorphic mechanisms being made up of the first bar 1 connected in turn, the 2nd bar 2, the 3rd bar 3, the 4th bar 4, the 5th bar 5, the 6th bar 6, the 7th bar 7 and the 8th bar 8.
Such as Fig. 7, Fig. 8, shown in Fig. 9, article four, the 9th bar 17 in open chain is respectively by the 11 turning joint 22 and the 2nd bar 2, 3rd bar 3, 6th bar 6 and the 7th bar 7 rotate hinged, article four, open chain and the 2nd bar 2, 3rd bar 3, the axis of four the 11 turning joints 22 between the 6th bar 6 and the 7th bar 7 and the axis being parallel of the first turning joint 9, namely the axis of the 11 turning joint 22 of the 2nd bar 2 and 3 two, the 3rd bar and the axis being parallel of the 7th turning joint 15 it is positioned at, it is positioned at the axis of two the 11 turning joints 22 of the 6th bar 6 and the 7th bar 7 and the axis being parallel of the 6th turning joint 14, four the 11 turning joints 22 all drop in the plane at the 9th bar 17, the tenth bar the 18 and the 11 bar 19 place.
When the angle of the first bar 1 and the 2nd bar 2 is equal with the angle of the 3rd bar 3 and the 4th bar 4, the axis of the 2nd turning joint 10 and the axis collinear of the 3rd turning joint 11.
In the present embodiment, drive any one in the 2nd turning joint 10 and the 3rd turning joint 11 or drive the 2nd turning joint 10 and the 3rd turning joint to rotate 11 equal angular simultaneously, make the first bar 1, 2nd bar 2, 3rd bar 3, 4th bar 4 place plane around the 2nd turning joint 10 and the 3rd turning joint 11 place axis relative to the 5th bar 5, 6th bar 6, 7th bar 7, 8th bar 8 place plane is rotated, select the first turning joint 9, 4th turning joint 12, 5th turning joint 13, 6th turning joint 14, 7th turning joint 15, any one in 8th turning joint 16 is as driving, meanwhile, drive described 9th turning joint 20 in every bar of open chain, the tenth turning joint 21 and connect the 11 turning joint 22 of closed chain and open chain. Bian Bao four-leg bionic robot of the present invention can be driven completely and form the situation bent in left and right, such as Fig. 7, Fig. 8, Fig. 9.
Embodiment three, waist use the four-leg bionic robot of eight bar metamorphic mechanisms, and eight bar metamorphic mechanisms of waist are in series connection structure state. Also the situation of i.e. Bian Bao four-leg bionic robot waist left and right doubling of the present invention.
The axis of the 2nd turning joint 10 overlaps with the friendship line of the upper surface of the first bar 1 and the upper surface of the 8th bar 8; The axis of the 3rd turning joint 11 overlaps with the friendship line of the upper surface of the 4th bar 4 and the upper surface of the 5th bar 5. When the angle of the first bar 1 and the 2nd bar 2 is equal with the angle of the 3rd bar 3 and the 4th bar 4, the axis of the 2nd turning joint 10 and the axis collinear of the 3rd turning joint 11.
On the basis of Fig. 1, the 2nd turning joint 10 is driven to rotate 180 degree or the 3rd turning joint 11 rotates 180 degree or drive the 2nd turning joint 10 and the 3rd turning joint 11 to rotate 180 degree simultaneously, the upper surface of the first bar 1 can be made to overlap with the upper surface of the 8th bar 8, the upper surface of the 2nd bar 2 overlaps with the upper surface of the 7th bar 7, the upper surface of the 3rd bar 3 overlaps with the upper surface of the 6th bar 6, the upper surface of the 4th bar 4 overlaps with the upper surface of the 5th bar 5, the axis of the first turning joint 9 overlaps with the axis of the 8th turning joint 16, the axis of the 4th turning joint 12 overlaps with the axis of the 5th turning joint 13, the axis of the 6th turning joint 14 overlaps with the axis of the 7th turning joint 15, the axis of the 11 turning joint 22 being positioned at the first bar 1 overlaps with the axis of the 11 turning joint 22 being positioned at the 7th bar 7, the axis of the 11 turning joint 22 being positioned at the 3rd bar 3 overlaps with the axis of the 11 turning joint 22 being positioned at the 6th bar 6, namely this process completes the left and right doubling of robot waist, at this moment closed linkage is folded into series connection 2R structure state. such as Fig. 9.
In this embodiment, any three conducts in the first turning joint 9, the 4th turning joint 12, the 5th turning joint 13, the 6th turning joint 14, the 7th turning joint 15, the 8th turning joint 16 are selected to drive; Meanwhile, drive described 9th turning joint 20 in every bar of open chain, the tenth turning joint 21 and connect the 11 turning joint 22 of closed chain and open chain, the present invention under this structure state can be driven completely.
Below by the first turning joint 9 chosen in closed chain, the 4th turning joint 12 and the 8th turning joint 16, described 9th turning joint 20 in open chain, the tenth turning joint 21 and the 11 turning joint 22 that connects closed chain and open chain are described for driving joint.
Drive the first turning joint 9 and the 8th turning joint 16 to rotate equal angular, the 4th turning joint 12 and the 5th turning joint 13 and rotate equal angular, the 6th turning joint 14 and the 7th turning joint 15 equal angular so that the first bar 1 and the 2nd bar 2 (and the 8th bar 8 and the 7th bar 7), the 2nd bar 2 and the 3rd bar 3 (and the 7th bar 7 and the 6th bar 6), the 3rd bar 3 and the 4th bar 4 (and the 6th bar 6 and the 5th bar 5) approximate 150 degree of angle. At this moment what Bian Bao four-leg bionic robot imitated is the form of mantis, such as Figure 10.
In the present invention, waist uses the space eight bar metamorphic mechanisms (i.e. closed chain) in the four-leg bionic robot of eight bar metamorphic mechanisms to have multiple structure state, and every Zhong Goutaixia mechanism topological framework and degree of freedom are not quite similar.
Waist mechanism (closed chain) deformable of Bian Bao of the present invention four-leg bionic robot, can carry out moving and adapt. Such as when running into narrower bend, the present invention can make waist twisting angle, it is possible to smoothly rounding this bend, if the polypody bionic machine people of rigidity waist then can not accomplish this point.
Bian Bao of the present invention four-leg bionic robot is by waist mechanism (closed chain) distortion, the center of gravity that waist (closed chain) can be regulated overall, make the position that to be in stable region all the time best for the center of gravity of waist, change born of the same parents bionic machine people can be made like this to run more stable.
Bian Bao of the present invention four-leg bionic robot is by the distortion of waist mechanism (closed chain), left and right can be realized bend over, face upward waist, turning round the action of waist, the adjustment of bionic machine people's motion fitness is of great advantage by these actions, and this point is that rigidity waist robot is not accomplished.
Bian Bao of the present invention four-leg bionic robot can play the effect of buffering and damping by the motion of two horizontal direction turning joints in the process of running, the waist with certain flexibility can improve the running speed of robot greatly, more here can from simulation horse and cheetah run attitude and speed be confirmed.
Bian Bao of the present invention four-leg bionic robot is by the change of waist mechanism (closed chain), robot can not only change the relative position relation between each bar leg (open chain), form and the rigidity of waist itself can also be changed simultaneously, and comprehensive above two kinds of changes, multiclass animal form can be combined into, realize bionical to multiple animal form, and then the feature of all kinds of animal can be integrated, such as the handiness of reptile, the stability of insects animal, the speed of mammal, joint limb class animal trick shares characteristic.
By the Reptilia lumbar spine bone structure analyzed in nature, its structure is corresponding to two horizontal direction turning joints in closed chain of the present invention. Consider the relative position relation of the leg of various animal simultaneously, the present invention proposes the concept of variable waist (variable closed chain), namely, two turning joints in plane eight-linkage mechanism are changed into the horizontal direction turning joint of two conllinear, has obtained a kind of space eight bar metamorphic mechanisms with multiple structure state.
Front four waist bars, comprise the first bar 1, the 2nd bar 2, the 3rd bar 3, the 4th bar 4 and the 5th bar 5 coplanar all the time. With reason, rear four waist bars, comprise the 5th bar 5, the 6th bar 6 and the 7th bar 7 and the 8th bar 8 also coplanar all the time. In closed chain, two horizontal direction turning joint axis are all in these two planes.
By using above-mentioned space eight bar metamorphic mechanisms as Reptilia waist structure, and space eight bar metamorphic mechanisms rod member midpoint be arranged symmetrically with leg (open chain) can obtain become born of the same parents bionic machine people.
Although above in conjunction with accompanying drawing, invention has been described; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment is only schematic; instead of it is restrictive; the those of ordinary skill of this area is under the enlightenment of the present invention; when not departing from objective of the present invention, it is also possible to make a lot of distortion, within these protections all belonging to the present invention.
Claims (8)
1. waist uses a four-leg bionic robot for eight bar metamorphic mechanisms, comprises a closed chain and four open chains, it is characterised in that:
Described closed chain is the eight bar metamorphic mechanisms being made up of the first bar (1) connected in turn, the 2nd bar (2), the 3rd bar (3), the 4th bar (4), the 5th bar (5), the 6th bar (6), the 7th bar (7) and the 8th bar (8);
The two ends of the first bar (1) are connected with one end of the 8th bar (8) with one end of the 2nd bar (2) with the 2nd turning joint (10) by the first turning joint (9) respectively, and the first turning joint (9) is mutually vertical with the axis of the 2nd turning joint (10);
The two ends of the 5th bar (5) are connected with one end of the 6th bar (6) with one end of the 4th bar (4) with the 4th turning joint (12) by the 3rd turning joint (11) respectively, and the 3rd turning joint (11) is mutually vertical with the axis of the 4th turning joint (12);
The two ends of the 3rd bar (3) are connected with the other end of the 2nd bar (2) with the other end of the 4th bar (4) with the 7th turning joint (15) by the 5th turning joint (13) respectively, and the 5th turning joint (13) is parallel to each other with the axis of the 7th turning joint (15);
The two ends of the 7th bar (7) are connected with the other end of the 8th bar (8) with the other end of the 6th bar (6) with the 8th turning joint (16) by the 6th turning joint (14) respectively, and the 6th turning joint (14) is parallel to each other with the axis of the 8th turning joint (16);
Described first bar (1), the 8th bar (8), the 5th bar (5) are identical with the 4th bar (4) length, described 3rd bar (3) is identical with the 6th bar (6) length, and described 2nd bar (2) is identical with the length of the 7th bar (7);
Article four, the structure of open chain is identical, the structure of every bar of open chain is: comprise the 9th bar (17), the tenth bar (18) and the 11 bar (19) that are positioned at same plane, the two ends of described tenth bar (18) are connected with the 11 bar (19) with the 9th bar (17) with the tenth turning joint (21) by the 9th turning joint (20) respectively, and the axis of described 9th turning joint (20) and the tenth turning joint (21) is parallel to each other;
Article four, described 9th bar (17) in open chain rotates hinged by the 11 turning joint (22) and the 2nd bar (2), the 3rd bar (3), the 6th bar (6) and the 7th bar (7) respectively, is positioned at the axis being parallel of the axis of two the 11 turning joints (22) of the 2nd bar (2) and the 3rd bar (3) and the 7th turning joint (15), is positioned at the axis of two the 11 turning joints (22) of the 6th bar (6) and the 7th bar (7) and the axis being parallel of the 6th turning joint (14); Four the 11 turning joints (22) all drop in the plane at the 9th bar (17), the tenth bar (18) and the 11 bar (19) place.
2. waist uses the four-leg bionic robot of eight bar metamorphic mechanisms according to claim 1, it is characterized in that, when the angle of the first bar (1) and the 2nd bar (2) is equal with the angle of the 3rd bar (3) and the 4th bar (4), the axis of described 2nd turning joint (10) and the axis collinear of the 3rd turning joint (11).
3. waist uses the four-leg bionic robot of eight bar metamorphic mechanisms according to claim 2, it is characterized in that, the described axis of the 2nd turning joint (10) overlaps with the friendship line of the upper surface of the first bar (1) and the upper surface of the 8th bar (8); The axis of described 3rd turning joint (11) overlaps with the friendship line of the upper surface of the 4th bar (4) and the upper surface of the 5th bar (5).
4. waist uses the four-leg bionic robot of eight bar metamorphic mechanisms according to claim 1, it is characterised in that, the axis of described first turning joint (9), the 4th turning joint (12) is parallel to each other.
5. waist uses the driving method of the four-leg bionic robot of eight bar metamorphic mechanisms according to claim 1, it is characterized in that, select to drive the first turning joint (9), 4th turning joint (12), 5th turning joint (13), 6th turning joint (14), 7th turning joint (15), in 8th turning joint (16) any three add any one in the 2nd turning joint (10) and the 3rd turning joint (11) or two can drive this closed linkage, simultaneously, drive described 9th turning joint (20) in every bar of open chain, 11 turning joint (22) of the tenth turning joint (21) and connection closed chain and open chain.
6. waist uses the driving method of the four-leg bionic robot of eight bar metamorphic mechanisms according to claim 2, it is characterised in that,
First, drive the 2nd turning joint (10) turn an angle the 3rd turning joint (11) turns an angle or simultaneously drive the 2nd turning joint (10) and the 3rd turning joint (11) rotation equal angular the first bar (1), the 2nd bar (2), the 3rd bar (3), the 4th bar (4) place plane can be made to rotate relative to the 5th bar (5), the 6th bar (6), the 7th bar (7), the 8th bar (8) place plane around the 2nd turning joint (10) with the 3rd turning joint (11) place axis; Then, select to drive any one in the first turning joint (9), the 4th turning joint (12), the 5th turning joint (13), the 6th turning joint (14), the 7th turning joint (15), the 8th turning joint (16);
Meanwhile, drive described 9th turning joint (20) in every bar of open chain, the tenth turning joint (21) and connect the 11 turning joint (22) of closed chain and open chain.
7. waist uses the driving method of the four-leg bionic robot of eight bar metamorphic mechanisms according to claim 3, it is characterized in that, when driving the 2nd turning joint (10) rotation 180 degree or the 3rd turning joint (11) rotate 180 degree or driving the 2nd turning joint (10) and the 3rd turning joint (11) rotation 180 degree simultaneously, the upper surface of the first bar (1) is overlapped with the upper surface of the 8th bar (8), the upper surface of the 2nd bar (2) overlaps with the upper surface of the 7th bar (7), the upper surface of the 3rd bar (3) overlaps with the upper surface of the 6th bar (6), the upper surface of the 4th bar (4) overlaps with the upper surface of the 5th bar (5), the axis of the first turning joint (9) overlaps with the axis of the 8th turning joint (16), the axis of the 4th turning joint (12) overlaps with the axis of the 5th turning joint (13), the axis of the 6th turning joint (14) overlaps with the axis of the 7th turning joint (15), the axis of the 11 turning joint (22) being positioned at the first bar (1) overlaps with the axis of the 11 turning joint (22) being positioned at the 7th bar (7), the axis of the 11 turning joint (22) being positioned at the 3rd bar (3) overlaps with the axis of the 11 turning joint (22) being positioned at the 6th bar (6),
Select to drive any three in the first turning joint (9), the 4th turning joint (12), the 5th turning joint (13), the 6th turning joint (14), the 7th turning joint (15), the 8th turning joint (16);
Meanwhile, drive described 9th turning joint (20) in every bar of open chain, the tenth turning joint (21) and connect the 11 turning joint (22) of closed chain and open chain.
8. waist uses the driving method of the four-leg bionic robot of eight bar metamorphic mechanisms according to claim 4, it is characterized in that, select to drive any three in the first turning joint (9), the 4th turning joint (12), the 5th turning joint (13), the 6th turning joint (14), the 7th turning joint (15), the 8th turning joint (16); Meanwhile, drive described 9th turning joint (20) in every bar of open chain, the tenth turning joint (21) and connect the 11 turning joint (22) of closed chain and open chain.
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| CN201610150579.9A CN105620582A (en) | 2016-03-16 | 2016-03-16 | Four-foot bio-robot with eight-rod metamorphic mechanism used on waist and driving method thereof |
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| CN201610150579.9A CN105620582A (en) | 2016-03-16 | 2016-03-16 | Four-foot bio-robot with eight-rod metamorphic mechanism used on waist and driving method thereof |
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| CN107644142A (en) * | 2017-10-18 | 2018-01-30 | 西安科技大学 | A kind of metamorphic mechanisms Structure Configuration Synthesis method based on functional analysis |
| CN107825412A (en) * | 2017-10-12 | 2018-03-23 | 广西大学 | A kind of more structure state bionic machine robot mechanisms |
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| CN115257996A (en) * | 2022-07-19 | 2022-11-01 | 长沙理工大学 | Eight-foot special robot capable of dynamically reconstructing body |
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