CN106184461B - A kind of imitative ostrich hind leg pedipulator - Google Patents
A kind of imitative ostrich hind leg pedipulator Download PDFInfo
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- CN106184461B CN106184461B CN201610604950.4A CN201610604950A CN106184461B CN 106184461 B CN106184461 B CN 106184461B CN 201610604950 A CN201610604950 A CN 201610604950A CN 106184461 B CN106184461 B CN 106184461B
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- apotelus
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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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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of Form of Bionics Mechanical Legs of imitative ostrich hind limb motor functional characteristic, including fuselage, hip joint motion, motion of knee joint mechanism and ankle motion mechanism；Hip joint motion is made of motor and crank and rocker mechanism, and wherein crank and rocker mechanism includes crank, femur and connecting rod；Motion of knee joint mechanism includes femur, the first spring, shin bone, metatarsal, brake cable, lower fibula, second spring, pneumatic cylinder and upper fibula；Ankle motion mechanism includes metatarsal, the first apotelus bone, the second apotelus bone, third apotelus bone, third torsional spring, the second torsional spring and the first torsional spring；The present invention is with the ostrich hind leg that can efficiently move for bionical prototype, it is run hind limb motor parameter testing by ostrich, it is analyzed in conjunction with biotomy, and according to ostrich tendon bone and the interaction mechanism of muscle tendon, optimization design goes out the imitative ostrich hind leg pedipulator that simple in structure, safe and reliable, vibratility is small, energy-efficient.
Description
Technical field
The invention belongs to bio-robot fields, more particularly, to a kind of imitative ostrich hind leg pedipulator.
Background technology
The hind leg of ostrich is strong and strong, has ability that is steady, persistently and at a high speed running.Ostrich continues running speed about
60km/h, dash speed is more than 70km/h, and about 30min can be maintained without feeling exhausted, and is that most fast two legs are run to obtain in land
Animal.Based on the energy saving and high velocity characteristic of ostrich movement, ostrich is more superior than other bipeds in speed and energy saving aspect.
Robot leg is the important component of robot, and very important effect is played to legged type robot movement.It is imitative according to engineering
It is raw to learn principle, the superior function of ostrich can be applied in the design of biped robot's leg structure.Since 2000, both at home and abroad
A large amount of bionical legged type robot, including BISAM, HyQ, KOLT, BigDog, Aibo, Scout II, TITAN have been emerged in large numbers,
LittleDog, Tekken.Wherein most it is representational be the exploitation of Boston utility companies BigDog, he not only can be real
Existing multi-motion gait, also has very strong adaptive capacity to environment and jamproof ability.Boston under Google
Dynamics companies most it is newly developed do not fall ATRIAS robots, be one and imitate the double of animal leg elastic rib tendon structure
Biped robot, it is with good stability.Although both at home and abroad to the research comparative maturity of bionical legged type robot, bionical
There is also energy utilization rates low, complicated, control difficulty that the design of legged type robot leg structure is upper, it is of high cost the problems such as.Separately
On the one hand, the sufficient end structure of bionical legged type robot is single, and greater impact power is generated with ground, is easy to cause robot generation and shakes
It is dynamic, make its can not normal operation, even damage machine part when serious.
The present invention, for bionical prototype, is surveyed with the ostrich hind leg that can efficiently move by ostrich hind limb motor parameter of running
Examination is analyzed in conjunction with biotomy, it is determined that ostrich hind leg structure size, and according to ostrich hind leg tendon-bone and tendon-
The interaction mechanism of muscle, optimization design go out the Form of Bionics Mechanical Legs that simple in structure, safe and reliable, vibratility is small, energy-efficient.
Invention content
The object of the present invention is to provide a kind of imitative ostrich hind leg pedipulator, the present invention enables bionic mechanical leg mechanism to imitate
The motion feature of ostrich, and have the advantages that simple in structure, vibration damping and energy-efficient.Ostrich of the present invention can efficiently move
Bird hind leg is bionical prototype, is run hind limb motor parameter testing by ostrich, is analyzed in conjunction with biotomy, it is determined that after ostrich
Limb structure size, and structure is gone out according to ostrich hind leg tendon-bone and the interaction mechanism of tendon-muscle, optimization design
Simply, securely and reliably, the Form of Bionics Mechanical Legs that vibratility is small, energy-efficient.
The present invention includes fuselage, hip joint motion, motion of knee joint mechanism and ankle motion mechanism.Hip joint is transported
Motivation structure is fixed on fuselage, and hip joint motion drives motion of knee joint mechanism kinematic, motion of knee joint mechanism to drive ankle
Articulation mechanism moves.Hip joint motion is made of motor and crank and rocker mechanism, and wherein crank and rocker mechanism includes
Crank, femur and connecting rod.Motor is mounted on fuselage, and motor driving crank rotates clockwise, and motor is simultaneously shaken by crank
Crank is converted to femur and continuously swung by linkage.
The motion of knee joint mechanism includes femur, the first spring, shin bone, metatarsal, brake cable (heel string), lower fibula, second
Spring, pneumatic cylinder and upper fibula.First spring one end is fixed on femur, and the first spring other end is fixed on shin bone.Gas
Cylinder pressure is fixed on fibula, and second spring one end is connected with pneumatic cylinder effect end, and the second spring other end is connected with lower fibula.Gas
When cylinder pressure works, second spring is first acted on, the elastic force that generation is deformed upon by second spring acts on lower fibula, complete with this
At lift leg and the action stretched one's legs.Brake cable one end is fixed on pneumatic cylinder effect end, and the brake cable other end is fixed on the outer of the first apotelus bone
End.Ankle motion mechanism include metatarsal, the first apotelus bone, the second apotelus bone, third apotelus bone, third torsional spring, the second torsional spring,
And first torsional spring.Coupled by the first torsional spring between metatarsal and the first apotelus bone, between the first apotelus bone and the second apotelus bone
Coupled by the second torsional spring, is coupled by third torsional spring between the second apotelus bone and third apotelus bone；And not by outer force effect
Under, the initial angle ∠ DHG of the first apotelus bone and metatarsal are 150 °, the first apotelus bone and the initial angle ∠ HGF of the second apotelus bone
It it is 180 °, the initial angle ∠ GFE of the second apotelus bone and third apotelus bone are 150 °.The size ratio of Form of Bionics Mechanical Legs key rod piece
Example is AC:CD:DH:DI:BI=71:110:95:20:113, and distal metatarsal head turning ∠ HDI are 150 °.
Beneficial effects of the present invention：
1, whole to be arranged on fuselage using link mechanism and series of elastic element, motor, pneumatic cylinder also is disposed on nearly body
Energy loss is reduced at end.And it is simple in structure, save manufacturing cost, compact overall structure, be conducive to improve mechanism operation can
By property.
2, using the quickreturn characteristics of crank and rocker mechanism, the time of idle stroke is effectively reduced, improves working efficiency.Motor connects
Continuous rotation is conducive to the stability and energy utilization rate that improve mechanism operation.
3, it is connected with spring using pneumatic cylinder and carries out the bionical of muscle-tendon interaction mechanism.Second spring (tendon)
Have the function of buffer shock-absorbing energy storage, effectively reduces destruction of the ground reaction force to bionic mechanical leg mechanism, improve machine
The stability of structure operation, while converting part gravitional force to elastic potential energy storage in the spring, and apotelus bone will be from
It is discharged during ground, reduces energy loss.In addition, when apotelus bone will be liftoff, pneumatic cylinder (muscle) is acted on by second spring
In lower fibula, since the buffer delay of second spring acts on, pneumatic cylinder effect end acts on the first apotelus bone by brake cable first,
It realizes the bionical of ostrich " pedaling ground " action, increases the tractive force of Form of Bionics Mechanical Legs.
4, the bionical of tendon-bone interaction mechanism is carried out using brake cable and rod piece cooperation.Only by a brake cable (with
Tendon), one end connects the first apotelus bone close to the position of G points, and the other end is connected to pneumatic cylinder effect end, is not necessarily to extra power
It realizes that foot pedals ground function, to reduce the quality of leg end, effectively reduces the rotary inertia of leg, improve energy utilization effect
Rate.Since brake cable has certain elasticity, is conducive to be further reduced ground shock destruction, has the function of buffer shock-absorbing.
5, the impact on ground is effectively relieved to contact ground section by section in a stabilization angle with ground in apotelus bone, and by part
Gravitional force is converted into elastic potential energy and is stored in torsional spring, realizes the effect of energy-saving vibration-reduction.In addition, due to the effect of torsional spring, the
Two apotelus bones and third apotelus bone generate the trend for being inserted into ground, improve the hauling ability of Form of Bionics Mechanical Legs.
6, the movement locus of metatarsal H points is similar to the movement locus of ostrich Lisfrac's joint, is conducive to Form of Bionics Mechanical Legs realization
Stabilizing energy-saving efficiently moves.
Description of the drawings
The stereoscopic schematic diagram that Fig. 1 is third apotelus bone of the present invention when will contact to earth.
Fig. 2 is the stereoscopic schematic diagram at a certain moment during third apotelus bone of the present invention contacts to earth.
Fig. 3 is the stereoscopic schematic diagram at a certain moment during third apotelus bone of the present invention is liftoff.
Fig. 4 is the stereoscopic schematic diagram of motion of knee joint mechanism of the present invention.
Wherein：1- fuselages；2- femurs；The first springs of 3-；4- shin bones；5- metatarsals；6- the first apotelus bones；The second apotelus of 7-
Bone；8- third apotelus bones；9- third torsional springs；The second torsional springs of 10-；The first torsional springs of 11-；12- brake cables；Fibula under 13-；14- second
Spring；15- pneumatic cylinders；The upper fibulas of 16-；17- motors；18- cranks；19- connecting rods.
Specific implementation mode
It please refers to Fig.1, shown in Fig. 2, Fig. 3 and Fig. 4, the present invention includes fuselage 1, hip joint motion, motion of knee joint
Mechanism and ankle motion mechanism；
The hip joint motion is fixed on the fuselage 1, and hip joint motion drives motion of knee joint mechanism kinematic,
Motion of knee joint mechanism drives ankle motion mechanism kinematic；Hip joint motion is by motor 17 and crank and rocker mechanism group
At wherein crank and rocker mechanism includes crank 18, femur 2 and connecting rod 19；Motor 17 is installed on the fuselage 1, and motor 17 drives
Crank 18 rotates clockwise, and crank 18 is simultaneously converted to the continuously swing of femur 2 by motor 17 by crank and rocker mechanism；
The motion of knee joint mechanism includes femur 2, the first spring 3, shin bone 4, metatarsal 5, brake cable 12, lower fibula 13,
Two springs 14, pneumatic cylinder 15 and upper fibula 16；First spring, 3 one end is fixed on femur 2, and 3 other end of the first spring is fixed
On shin bone 4；Pneumatic cylinder 15 is fixed on fibula 16, and 14 one end of second spring acts on end with pneumatic cylinder 15 and is connected, second spring
14 other ends are connected with lower fibula 13；When pneumatic cylinder 15 works, second spring 14 is first acted on, shape is occurred by second spring 14
Become the elastic force generated and acts on lower fibula 13, the action that lift leg is completed with this and is stretched one's legs；12 one end of brake cable is fixed on pneumatic cylinder 15
End is acted on, 12 other end of brake cable is fixed on the outer end G of the first apotelus bone 6.
The ankle motion mechanism includes metatarsal 5, the first apotelus bone 6, the second apotelus bone 7, third apotelus bone 8, third
Torsional spring 9, the second torsional spring 10 and the first torsional spring 11；Coupled by the first torsional spring 11 between metatarsal 5 and the first apotelus bone 6, first
Coupled by the second torsional spring 10 between apotelus bone 6 and the second apotelus bone 7, passes through between the second apotelus bone 7 and third apotelus bone 8
Three torsional springs 9 couple；And not under by outer force effect, the initial angle ∠ DHG of the first apotelus bone 6 and metatarsal 5 are 150 °, the first toe
It is 180 ° to save bone 6 and 7 initial angle ∠ HGF of the second apotelus bone, the initial angle ∠ GFE of the second apotelus bone 7 and third apotelus bone 8
It is 150 °.
The dimension scale of Form of Bionics Mechanical Legs key rod piece is AC:CD:DH:DI:BI=71:110:95:20:113, and metatarsal
5 end turning ∠ HDI are 150 °.
Brake cable 12 is equivalent to the heel string of pedipulator；Second spring 14 is equivalent to the tendon of pedipulator；Pneumatic cylinder 15 is equivalent to
The muscle of pedipulator.
The course of work of the present invention：
By taking Form of Bionics Mechanical Legs is completed to go to make a move action as an example：
As starting point, motor 17 drives crank 18 to rotate clockwise for the position that will be contacted to earth using third apotelus bone 8.Crank 18 is logical
Crossing connecting rod 19 drives femur 2 to make continuous pendulum motion, under the effect of gravity, the first apotelus bone 6, the second apotelus bone 7, third apotelus
8 priority of bone is contacted with ground, and third torsional spring 9, the second torsional spring 10 and the first torsional spring 11 play the role of vibration-reduction energy-storage.Second toe
Bone 7 and third apotelus bone 8 are saved respectively under the active force of the second torsional spring 10 and third torsional spring 9, the trend on ground is inserted into generation, is carried
The hauling ability of high Form of Bionics Mechanical Legs.During third apotelus bone 8 contacts to earth, the compression of the first spring 3 and second spring 14 extend
Play the role of support and energy storage vibration damping；When second spring 14 is compressed in 15 working end of pneumatic cylinder, since second spring 14 buffers
The effect end of the effect of delay, pneumatic cylinder 15 directly acts on the first apotelus bone 6 by brake cable 12 first, realizes ostrich " pedaling ground "
What is acted is bionical, increases the tractive force of Form of Bionics Mechanical Legs.During third apotelus bone 8 is liftoff, with the effect of pneumatic cylinder 15
Power increases, and the deformation quantity of second spring 14 gradually increases, therefore the power for acting on lower fibula 13 also gradually increases, leg curvature,
So that Form of Bionics Mechanical Legs is increased at a distance from ground, realizes the function across barrier.Before third apotelus bone 8 contacts to earth again, pneumatic cylinder 15
Slowly restore to original state, the gradually relaxation of brake cable 12, the first apotelus bone 6 gradually returns just under the action of the first torsional spring 11
Beginning state completes action of stretching one's legs, and prepares to contact to earth next time.
Claims (1)
1. a kind of imitative ostrich hind leg pedipulator, it is characterised in that：Including fuselage (1), hip joint motion, motion of knee joint machine
Structure and ankle motion mechanism；
The hip joint motion is fixed on fuselage (1), and hip joint motion drives motion of knee joint mechanism kinematic, knee
Articulation mechanism drives ankle motion mechanism kinematic；Hip joint motion is by motor (17) and crank and rocker mechanism group
At wherein crank and rocker mechanism includes crank (18), femur (2) and connecting rod (19)；Motor (17) is mounted on fuselage (1),
Motor (17) driving crank (18) rotates clockwise, and crank (18) is simultaneously rotated conversion by motor (17) by crank and rocker mechanism
It is continuously swung for femur (2)；
The motion of knee joint mechanism includes femur (2), the first spring (3), shin bone (4), metatarsal (5), brake cable (12), lower fibula
(13), second spring (14), pneumatic cylinder (15) and upper fibula (16)；First spring (3) one end is fixed on femur (2), the
One spring (3) other end is fixed on shin bone (4)；Pneumatic cylinder (15) is fixed on fibula (16), second spring (14) one end with
Pneumatic cylinder (15) acts on end and is connected, and second spring (14) other end is connected with lower fibula (13)；When pneumatic cylinder (15) works, first make
For second spring (14), the elastic force that generation is deformed upon by second spring (14) is acted on lower fibula (13), is completed with this
Lift leg and the action stretched one's legs；Brake cable (12) one end is fixed on pneumatic cylinder (15) effect end, and brake cable (12) other end is fixed on first
The outer end (G) of apotelus bone (6)；
The ankle motion mechanism include metatarsal (5), the first apotelus bone (6), the second apotelus bone (7), third apotelus bone (8),
Third torsional spring (9), the second torsional spring (10) and the first torsional spring (11)；It is turned round by first between metatarsal (5) and the first apotelus bone (6)
Spring (11) couples, and is coupled by the second torsional spring (10) between the first apotelus bone (6) and the second apotelus bone (7), the second apotelus bone (7)
Coupled by third torsional spring (9) between third apotelus bone (8)；Not under by outer force effect, the first apotelus bone (6) and metatarsal
(5) initial angle (∠ DHG) is 150 °, and the first apotelus bone (6) is 180 ° with the initial angle (∠ HGF) of the second apotelus bone (7),
The initial angle (∠ GFE) of second apotelus bone (7) and third apotelus bone (8) is 150 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610604950.4A CN106184461B (en) | 2016-07-28 | 2016-07-28 | A kind of imitative ostrich hind leg pedipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610604950.4A CN106184461B (en) | 2016-07-28 | 2016-07-28 | A kind of imitative ostrich hind leg pedipulator |
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| Publication Number | Publication Date |
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| CN106184461A CN106184461A (en) | 2016-12-07 |
| CN106184461B true CN106184461B (en) | 2018-07-24 |
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| CN201610604950.4A Expired - Fee Related CN106184461B (en) | 2016-07-28 | 2016-07-28 | A kind of imitative ostrich hind leg pedipulator |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428289B (en) * | 2016-12-08 | 2018-07-13 | 吉林大学 | Bionical passive rebound pedipulator |
| CN107554641B (en) * | 2017-09-22 | 2023-08-04 | 山东大学 | Ostrich-like robot walking mechanism |
| CN107628140B (en) * | 2017-11-10 | 2023-10-27 | 吉林大学 | Bionic mechanical foot |
| CN110386202A (en) * | 2018-04-20 | 2019-10-29 | 西南科技大学 | A kind of novel four-footed ostrich bio-robot |
| CN108609066B (en) * | 2018-05-09 | 2023-11-14 | 北京理工大学 | Amphibious bionic machine waterfowl |
| EP3696060A1 (en) * | 2019-02-18 | 2020-08-19 | Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V. | Robot leg and robotic system |
| CN110254553B (en) * | 2019-06-04 | 2020-12-01 | 北京交通大学 | Full-form ostrich-imitated high-speed running and jumping robot |
| CN112758209B (en) * | 2020-12-31 | 2022-06-03 | 北京理工大学 | Robot leg structure based on seven connecting rods |
| CN115339543B (en) * | 2022-09-21 | 2023-06-20 | 吉林大学 | Bionic mechanical leg applicable to slope ground and having buffering, energy saving and stabilizing functions |
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| US6260862B1 (en) * | 1998-02-11 | 2001-07-17 | Joseph C. Klann | Walking device |
| CN103625572A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Quadruped robot leg with elastic four-rod mechanism |
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Patent Citations (6)
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|---|---|---|---|---|
| US6260862B1 (en) * | 1998-02-11 | 2001-07-17 | Joseph C. Klann | Walking device |
| CN103625572A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Quadruped robot leg with elastic four-rod mechanism |
| CN103991489A (en) * | 2014-05-12 | 2014-08-20 | 上海大学 | Three-freedom-degree leg mechanism driven by pneumatic artificial muscle |
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| CN106184461A (en) | 2016-12-07 |
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