CN108545119A - The biped hopping robot that pneumatic muscles drive the arm of force variable - Google Patents
The biped hopping robot that pneumatic muscles drive the arm of force variable Download PDFInfo
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- CN108545119A CN108545119A CN201810267653.4A CN201810267653A CN108545119A CN 108545119 A CN108545119 A CN 108545119A CN 201810267653 A CN201810267653 A CN 201810267653A CN 108545119 A CN108545119 A CN 108545119A
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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
Abstract
The present invention relates to a kind of variable biped hopping robots of pneumatic muscles driving arm of force.Robot is made of left leg, right leg, trunk, muscle systems and spring system.By coordinated movements of various economic factors such as pneumatic muscles and elastomeric springs, it can be good at realizing vertical bounce, tilt jumping.Have the characteristics that design structure simple and compact, construction geometry similitude, architecture quality portability, mechanism kinematic bio-imitability and compliance, the mobility that biped robot adapts to unstructured moving grids can be improved.
Description
Technical field
The present invention relates to a kind of variable biped hopping robot of pneumatic muscles driving arm of force, by left leg, right leg, trunk,
Muscle systems and spring system composition.By coordinated movements of various economic factors such as pneumatic muscles and elastomeric springs, can be good at realizing vertical jump
Jump tilts jumping.It is special with simple and compact for structure, light-weight, construction geometry similitude, motion biomimetics and compliance etc.
Point can effectively improve the mobility that biped robot adapts to unstructured moving grids.
Background technology
With the development of robot technology and bionics techniques, robot is sent out towards the direction of more bio-imitability and compliance
Exhibition, while also the walking operation by most develops towards jumping.Bionic kangaroo-hopping robot, the driving side used at present
Formula mostly uses greatly motor, hydraulic-driven, these type of drive, leads to the heavier-weight of robot, and robot kinematics
Middle shortage bio-imitability and compliance.In recent years, the pneumatic muscles with bio-imitability characteristic are applied to bionical jump more and more widely
In jump robot.By observing the jump action process of the animals such as frog, kangaroo, meanwhile, analyze each joint and each pass of driving
The distribution situation for saving the biological muscles of movement designs a kind of artificial pneumatic flesh with construction geometry similitude and bionic principle
The biped hopping robot that the arm of force of meat driving can be changed, has the characteristics that compact mechanism, bio-imitability and compliance are good.
Invention content
It is an object of the invention to be directed to existing technical deficiency, a kind of biped that the pneumatic muscles driving arm of force is variable is provided
Hopping robot has simple and compact for structure, light-weight, construction geometry similitude, mechanism kinematic bio-imitability and compliance etc. special
Point.
The technical solution adopted in the present invention is：A kind of biped hopping robot that the arm of force of pneumatic muscles driving is variable,
By right leg（I）, left leg（II）, trunk（III）, muscle systems（IV）With elastomeric spring system（V）Composition.Right leg（I）With left leg
（II）Pass through trunk（III）And central tube（90、93）Connection.
The left and right leg（I、II）Mechanism has same configuration, including hip joint（98）, knee joint（99）, ankle-joint
（100）, thigh（6）, shank（8）, shin bone（10）, foot（11）, doublejointed muscle arm of force changeable device（102）, the hip joint arm of force
Changeable device（101）；Wherein hip joint（98）And knee joint（99）With thigh（6）It is connected through a screw thread, knee joint（99）And ankle
Joint（100）With shank（8）It is connected through a screw thread, ankle-joint（100）And foot（11）With shin bone（10）It is connected through a screw thread；Hip closes
Section（98）By hip joint transition joint（58）, hip joint coupling（56）With hip joint lower sheave（96）It forms, among hip joint
Connector（58）With hip joint coupling（56）Pass through hollow stem on hip joint（57）With two nuts（49）It is attached, wherein also
There are two bearings（60）, bearing holder (housing, cover)（59）, two end rings（50）, two gaskets（48）；Hip joint coupling（56）And hip
Joint lower sheave（96）Pass through hip joint pulley center bar（55）With two nuts（51）It is attached, wherein there are two bearings
（95）, bearing holder (housing, cover)（54）, two end rings（53）, two bearing shims（52）；Knee joint（99）By knee joint transition joint
（45）With knee joint coupling（43）Composition, knee joint transition joint（45）Pass through knee joint hollow pipe with knee joint coupling
（44）With two nuts（40）It is attached, wherein there are two bearings（46）, two end rings（47）, two gaskets（41）
And bearing holder (housing, cover)（42）；Ankle-joint（100）By ankle-joint transition joint（38）With ankle-joint coupling（39）It forms, among ankle-joint
Connector（38）With ankle-joint coupling（39）Pass through ankle-joint hollow pipe（32）With two nuts（36）Connection, wherein there are two
Bearing（34）, bearing holder (housing, cover)（33）, two gaskets（35）, two end rings（37）.
The doublejointed muscle arm of force changeable device（102）By nut（65）, intermediate pulley（66）, intermediate sleeve
（64）, screw（63）, nut（62）, gasket（61）, middle frame（67）, bolt（68）Composition, middle frame（68）In hip joint
Between connector（58）Pass through bolt（68）Connection, middle frame（68）And intermediate pulley（66）Pass through screw（63）Connection.Hip joint power
Arm changeable device（101）Including patch（80、81）, intermediate bar（73）, intermediate bar（75）, two adjustable patches（74）, it is intermediate sliding
Wheel（76）, two bearings（77）, two end rings（79）, two gaskets（78）, intermediate pulley（76）Pass through with variable patch
Intermediate bar（75）And nut（72）Connection, whole device and hip joint（98）Pass through intermediate bar（73）, intermediate bar（106）And nut
（71）, nut（104）Connection.
The trunk（III）Including intermediate plate（24）, hollow pipe（25、94）, front connector（28、106）, preceding hollow pipe
（31、69）, hip joint（98）And trunk（III）Pass through hollow pipe（25、94）By being threadedly coupled, intermediate plate（24）And hollow pipe
（25、94）Pass through 6 screws（23）And nut（27）Connection, front connector（28、106）Between pass through preceding hollow pipe（31、69）With 4
A nut（29）Connection.
The muscle systems（IV）By simple joint muscle G-maxA（2、22）, simple joint muscle G-maxB（3、21）, it is double
Articular muscle RF（4、19）, simple joint muscle SOL（7、16）Composition.Muscle arrangement on the leg of left and right is identical, in right leg（I）
On, simple joint muscle G-maxA（2）One end is connected to trunk（III）Front connector（28）On, the other end passes through the hip joint arm of force
Changeable device（101）It is connected to hip joint（98）On；Simple joint muscle G-maxB（3）One end is connected to trunk（III）Before connect
Head（28）On, the other end passes through hip joint transition joint（58）It is connected to hip joint（98）On；Doublejointed muscle RF（4）One end connects
It is connected on trunk（III）Front connector（28）On, the other end passes through doublejointed muscle arm of force changeable device（102）, among knee joint
Connector（45）It is connected to knee joint（99）On,；Simple joint muscle SOL（7）One end is connected to knee joint（99）On, other end connection
In ankle-joint（100）On.
The elastomeric spring system（V）By elastomeric spring（1、5、9、14、18、20）Composition, in left and right leg（I、II）In
Configuration it is identical.In right leg（II）In, elastomeric spring（1）Connect trunk（III）And hip joint（98）, elastomeric spring（5）Connection
Hip joint（98）And knee joint（99）, elastomeric spring（9）Connect knee joint（99）And ankle-joint（100）.
The present invention compared with prior art, has following distinct substantive distinguishing features and notable technological progress：
One, the present invention can change the arm of force suffered by hip joint, and the torque that pneumatic muscles suffered by hip joint generate is made to reach maximization.
Two, the present invention is controlled with doublejointed muscle, can be expanded the slewing area of joint angle, be improved the stretching, extension journey of body
Degree.
Three, the present invention restores the initial position of each joint angle using elastomeric spring, and can be used to buffer jump landing
The impact force of formula.
Four, the present invention is driven using pneumatic muscles, and the movement compliance in each joint is stronger, and bio-imitability is more preferable.
Description of the drawings
Fig. 1 is a kind of biped hopping robot's general structure schematic diagram that the arm of force of pneumatic muscles driving is variable of the present invention.
Fig. 2 is zero outside a kind of biped hopping robot overall structure that the arm of force of pneumatic muscles driving system is variable of the present invention
Part schematic diagram.
Fig. 3 is a kind of biped hopping robot's trunk structural schematic diagram that the arm of force of pneumatic muscles driving is variable of the present invention.
Fig. 4 is a kind of biped hopping robot's ankle joint structure signal that the arm of force of pneumatic muscles driving is variable of the present invention
Figure.
Fig. 5 is a kind of biped hopping robot's knee joint structure signal that the arm of force of pneumatic muscles driving is variable of the present invention
Figure.
Fig. 6 is a kind of biped hopping robot's hip joint schematic diagram that the arm of force of pneumatic muscles driving is variable of the present invention.
Fig. 7 is a kind of biped hopping robot's doublejointed muscle arm of force that the arm of force of pneumatic muscles driving system is variable of the present invention
Changeable device structural schematic diagram.
Fig. 8 is that a kind of biped hopping robot's hip joint arm of force that the arm of force of pneumatic muscles driving is variable of the present invention becomes makeup
Set structural schematic diagram.
Fig. 9 is a kind of biped hopping robot's pneumatic muscles structural representation that the arm of force of pneumatic muscles driving is variable of the present invention
Figure.
Figure 10 is that a kind of biped hopping robot's frame that the arm of force of pneumatic muscles driving is variable of the present invention overlooks graph structure
Schematic diagram.
Figure 11 is a kind of biped hopping robot unilateral side leg structural representation that the arm of force of pneumatic muscles driving is variable of the present invention
Figure.
Specific implementation mode
With reference to preferred embodiment and Figure of description, the present invention is described further：
Embodiment one：
Referring to the biped hopping robot that Fig. 1 ~ Figure 11, this pneumatic muscles drive the arm of force variable, including right leg（I）, left leg（II）、
Trunk（III）, muscle systems（IV）And spring system（V）.It is characterized in that：Right leg（I）With left leg（II）It is parallel by two
Hollow connecting rod（90、93）It is connected by nut, and and trunk（III）It links into an integrated entity；Left and right leg（I、II）With left and right pair
Claim the mechanism of same configuration, is respectively furnished with muscle systems and spring system, and have arm of force variset.
Embodiment two：The present embodiment and embodiment one are essentially identical, and special feature is as follows：
The left and right leg（I、II）Mechanism with symmetrical same configuration is：Including hip joint（98）, knee joint（99）, ankle
Joint（100）, thigh（6）, shank（8）, shin bone（10）, foot（11）, doublejointed muscle arm of force changeable device（102）, hip joint
Arm of force changeable device（101）.Wherein hip joint（98）And knee joint（99）With thigh（6）It is connected through a screw thread, knee joint（99）
And ankle-joint（100）It is connected through a screw thread with shank, ankle-joint（100）And foot（11）With shin bone（10）It is connected through a screw thread.Hip
Joint（98）By hip joint transition joint（58）, hip joint coupling（56）With hip joint lower sheave（96）It forms, in hip joint
Between connector（58）With hip joint coupling（56）Pass through hollow stem on hip joint（57）With two nuts（49）It is attached, wherein
There are two bearings（60）, bearing holder (housing, cover)（59）, two end rings（50）, two gaskets（48）；Hip joint coupling（56）With
Hip joint lower sheave（96）Pass through hip joint pulley center bar（55）With two nuts（51）It is attached, wherein there are two axis
It holds（95）, bearing holder (housing, cover)（54）, two end rings（53）, two bearing shims（52）.Knee joint（99）By indirect in knee joint
Head（45）With knee joint coupling（43）Composition, knee joint transition joint（45）Pass through knee joint hollow pipe with knee joint coupling
（44）With two nuts（40）It is attached, wherein there are two bearings（46）, two end rings（47）, two gaskets（41）
And bearing holder (housing, cover)（42）.Ankle-joint（100）By ankle-joint transition joint（38）With ankle-joint coupling（39）It forms, among ankle-joint
Connector（38）With ankle-joint coupling（39）Pass through ankle-joint hollow pipe（32）With two nuts（36）Connection, wherein there are two
Bearing（34）, bearing holder (housing, cover)（33）, two gaskets（35）, two end rings（37）.The doublejointed muscle arm of force changeable device
（102）By nut（65）, intermediate pulley（66）, intermediate sleeve（64）, screw（63）, nut（62）, gasket（61）, middle frame
（67）, bolt（68）Composition, middle frame（68）With hip joint transition joint（58）Pass through bolt（68）Connection, middle frame（68）With
Intermediate pulley（66）Pass through screw（63）Connection.Hip joint arm of force changeable device（101）Including patch（80、81）, intermediate bar
（73）, intermediate bar（75）, two adjustable patches（74）, intermediate pulley（76）, two bearings（77）, two end rings（79）、
Two gaskets（78）, intermediate pulley（76）Pass through intermediate bar with variable patch（75）And nut（72）Connection, whole device and hip
Joint（98）Pass through intermediate bar（73）, intermediate bar（106）And nut（71）, nut（104）Connection.The trunk（III）Including
Intermediate plate（24）, hollow pipe（25、94）, front connector（28、106）, preceding hollow pipe（31、69）, hip joint（98）And trunk（III）
Pass through hollow pipe（25、94）By being threadedly coupled, intermediate plate（24）And hollow pipe（25、94）Pass through 6 screws（23）And nut
（27）Connection, front connector（28、106）Between pass through preceding hollow pipe（31、69）With 4 nuts（29）Connection.
Embodiment three：
Such as the biped hopping robot that Fig. 1, this pneumatic muscles drive the arm of force variable, including right leg（I）, left leg（II）, trunk
（III）, muscle systems（IV）, spring system（V）.It is characterized in that：Right leg（I）With left leg（II）Pass through central tube（90、93）
Connection；Trunk（III）With right leg（I）, left leg（II）Pass through hollow pipe（25、94）Connection.
Such as Fig. 2, muscle systems（IV）Pass through simple joint muscle Gmax-A（2）And Gmax-B（3）Connect trunk（III）And hip
Joint（98）, thus control body（III）And thigh（6）Stretching, extension；Muscle systems（IV）Pass through doublejointed muscle RF（4）Connection
Trunk（III）And knee joint（99）, thus control trunk（III）And shank（8）Stretching, extension；Muscle systems（IV）Pass through simple joint
Muscle SOL（7）Connect knee joint（99）And ankle-joint（100）, thus control shin bone（10）Stretching, extension.
Spring system（V）Pass through elastomeric spring（1）Connect trunk（III）And hip joint（98）, thereby determine that trunk（III）
And thigh（6）Initial position, and trunk when the impact force that generates is jump next time when absorbing landing in jump（III）With
Thigh（6）Stretching, extension certain power is provided；Pass through elastomeric spring（5）Connect hip joint（98）And knee joint（99）, thereby determine that
Shank（8）Initial position, and shank when the impact force that generates is jump next time when absorbing landing in jump（8）Stretching, extension
Certain power is provided；Pass through elastomeric spring（9）Connect knee joint（99）And ankle-joint（100）, thus determine shin bone（10）'s
Initial position, and shin bone when the impact force generated when landing is jump next time is absorbed in jump（10）Stretching, extension provide it is certain
Power.
If Fig. 3 is biped robot's trunk structural schematic diagram, trunk（III）Pass through hollow pipe（25、94）By right leg（I）With
Left leg（II）It connects, intermediate plate（24）Pass through 6 identical screws（23）It is connected to hollow pipe（25、94）On, intermediate plate
（24）For placing pressure place air assembly and various valve gears.
Such as Fig. 7 doublejointed muscle arm of force changeable device structural schematic diagrams, by nut（65）, intermediate pulley（66）, intermediate sleeve
Cylinder（64）, screw（63）, nut（62）, gasket（61）, middle frame（67）, bolt（68）Composition, middle frame（67）And hip joint
Transition joint（58）Pass through bolt（68）Connection, middle frame（68）And intermediate pulley（66）Pass through screw（63）Connection.By this
Intermediate pulley in device（66）To change doublejointed muscle RF（4）To trunk（III）The joint moment of generation, and by adjusting
Middle frame（67）With hip joint transition joint（58）Between angle, to find the angle that can generate maximum joint moment.
Such as Fig. 8 hip joint arm of force changeable device structural schematic diagrams, hip joint arm of force changeable device（101）Including patch（80、
81）, intermediate bar（73）, intermediate bar（75）, two adjustable patches（74）, intermediate pulley（76）, two bearings（77）, two bearings
Baffle ring（79）, two gaskets（78）, pass through intermediate pulley（76）Effect, change simple joint muscle Gmax-A（2）To trunk
（III）The joint moment of generation, while can also be by adjusting adjustable patch（74）Length and and patch（80、81）Angle
Degree, to find the offset or dish and angle that can generate maximum joint moment.
When the robot realizes jump, the structure of entire robot remains stationary state under the action of elastomeric spring.
Take-off Stage first passes through air compressor to doublejointed muscle RF（4）Inflation makes it generate axial shrinkage radial dilatation, makes trunk
（III）Around hip joint（98）Rotation is stretched, and shank is made（8）Around knee joint（99）Rotation is stretched；Then pass through air
Compressor is simultaneously to simple joint muscle Gmax-A（2）, simple joint muscle Gmax-B（3）With simple joint muscle SOL（7）Inflation, makes
Muscle axial shrinkage radial dilatation, makes thigh（6）Around hip joint（98）Rotation expansion makes shin bone（10）Around ankle-joint（100）Rotation
Turn stretching, extension, the entire liftoff take-off of robot.When whereabouts is contacted to earth, each pneumatic muscles are vented outward, trunk（III）And thigh
（6）In elastomeric spring（1）Pulling under be restored to initial attitude, shank（8）In elastomeric spring（5）Pulling under be restored to it is initial
Posture, shin bone（10）In elastomeric spring（9）Pulling under be restored to initial attitude.Continue dropping process, by whole device weight
The effect of power, makes elastomeric spring be compressed, and power is stored for spring next time.
Claims (9)
1. a kind of biped hopping robot that the pneumatic muscles driving arm of force is variable, including right leg（I）, left leg（II）, trunk
（III）, muscle systems（IV）And spring system（V）, it is characterised in that：Right leg（I）With left leg（II）Pass through two parallel skies
Heart connecting rod（90、93）It is connected by nut, and and trunk（III）It links into an integrated entity；Left and right leg（I、II）With symmetrical phase
With the mechanism of configuration, respectively it be furnished with muscle systems and spring system, and have arm of force variset.
2. the variable biped hopping robot of the pneumatic muscles driving arm of force according to claim 1, it is characterised in that：It is described
Left and right leg（I、II）Mechanism with symmetrical same configuration is：Including hip joint（98）, knee joint（99）, ankle-joint
（100）, thigh（6）, shank（8）, shin bone（10）, foot（11）, doublejointed muscle arm of force changeable device（102）, the hip joint arm of force
Changeable device（101）, wherein hip joint（98）And knee joint（99）With thigh（6）It is connected through a screw thread, knee joint（99）And ankle
Joint（100）It is connected through a screw thread with shank, ankle-joint（100）And foot（11）With shin bone（10）It is connected through a screw thread, hip joint
（98）By hip joint transition joint（58）, hip joint coupling（56）With hip joint lower sheave（96）It forms, in hip joint indirectly
Head（58）With hip joint coupling（56）Pass through hollow stem on hip joint（57）With two nuts（49）It is attached, wherein also having
Two bearings（60）, bearing holder (housing, cover)（59）, two end rings（50）, two gaskets（48）；Hip joint coupling（56）It is closed with hip
Save lower sheave（96）Pass through hip joint pulley center bar（55）With two nuts（51）It is attached, wherein there are two bearings
（95）, bearing holder (housing, cover)（54）, two end rings（53）, two bearing shims（52）, knee joint（99）By knee joint transition joint
（45）With knee joint coupling（43）Composition, knee joint transition joint（45）Pass through knee joint hollow pipe with knee joint coupling
（44）With two nuts（40）It is attached, wherein there are two bearings（46）, two end rings（47）, two gaskets（41）
And bearing holder (housing, cover)（42）, ankle-joint（100）By ankle-joint transition joint（38）With ankle-joint coupling（39）It forms, among ankle-joint
Connector（38）With ankle-joint coupling（39）Pass through ankle-joint hollow pipe（32）With two nuts（36）Connection, wherein there are two
Bearing（34）, bearing holder (housing, cover)（33）, two gaskets（35）, two end rings（37）.
3. the variable biped hopping robot of the pneumatic muscles driving arm of force according to claim 2, it is characterised in that：It is described
Doublejointed muscle arm of force changeable device（102）By nut（65）, intermediate pulley（66）, intermediate sleeve（64）, screw（63）, nut
（62）, gasket（61）, middle frame（67）, bolt（68）Composition, middle frame（68）With hip joint transition joint（58）Pass through bolt
（68）Connection, middle frame（68）And intermediate pulley（66）Pass through screw（63）Connection, hip joint arm of force changeable device（101）Including
Patch（80、81）, intermediate bar（73）, intermediate bar（75）, two adjustable patches（74）, intermediate pulley（76）, two bearings（77）、
Two end rings（79）, two gaskets（78）, intermediate pulley（76）Pass through intermediate bar with variable patch（75）And nut（72）
Connection, whole device and hip joint（98）Pass through intermediate bar（73）, intermediate bar（106）And nut（71）, nut（104）Connection.
4. the variable biped hopping robot of the pneumatic muscles driving arm of force according to claim 1, it is characterised in that：It is described
Trunk（III）Including intermediate plate（24）, hollow pipe（25、94）, front connector（28、106）, preceding hollow pipe（31、69）, hip joint
（98）And trunk（III）Pass through hollow pipe（25、94）By being threadedly coupled, intermediate plate（24）And hollow pipe（25、94）Pass through 6
Screw（23）And nut（27）Connection, front connector（28、106）Between pass through preceding hollow pipe（31、69）With 4 nuts（29）Even
It connects.
5. the variable biped hopping robot of the pneumatic muscles driving arm of force according to claim 1, it is characterised in that：It is described
Muscle systems（IV）By simple joint muscle G-maxA（2、22）, simple joint muscle G-maxB（3、21）, doublejointed muscle RF（4、
19）, simple joint muscle SOL（7、16）Composition, the muscle arrangement on the leg of left and right is identical, in right leg（I）On, simple joint muscle G-
maxA（2）One end is connected to trunk（III）Front connector（28）On, the other end passes through hip joint arm of force changeable device（101）Even
It is connected on hip joint（98）On；Simple joint muscle G-maxB（3）One end is connected to trunk（III）Front connector（28）On, the other end
By hip joint transition joint（58）It is connected to hip joint（98）On；Doublejointed muscle RF（4）One end is connected to trunk（III）'s
Front connector（28）On, the other end passes through doublejointed muscle arm of force changeable device（102）, knee joint transition joint（45）It is connected to knee
Joint（99）On,；Simple joint muscle SOL（7）One end is connected to knee joint（99）On, the other end is connected to ankle-joint（100）On.
6. the variable biped hopping robot of the pneumatic muscles driving arm of force according to claim 1, it is characterised in that：It is described
Spring（V）By elastomeric spring（1、5、9、14、18、20）Composition, in left and right leg（I、II）In configuration it is identical, in right leg（II）
In, elastomeric spring（1）Connect trunk（III）And hip joint（98）, elastomeric spring（5）Connect hip joint（98）And knee joint
（99）, elastomeric spring（9）Connect knee joint（99）And ankle-joint（100）.
7. the variable biped hopping robot of the pneumatic muscles driving arm of force according to claim 3, it is characterised in that：It is described
Arm of force variset, in the robot there are two at：It is doublejointed muscle arm of force changeable device at one（102）, in
A structure of an essay（67）To change doublejointed muscle RF（4）The torque of generation；It is hip joint arm of force changeable device at two（101）, in
Between pulley（76）Change simple joint muscle Gmax-A（2）The torque of generation reaches pneumatic muscles production by above two device
Raw maximum moment.
8. the variable biped hopping robot of the pneumatic muscles driving arm of force according to claim 3, it is characterised in that：It is described
Doublejointed muscle systems, which is doublejointed muscle RF（4）, doublejointed muscle RF（4）Connect trunk（III）
And knee joint（99）, by doublejointed muscle RF（4）It is inflated, to simultaneously to hip joint（98）And knee joint（99）Into
Row adjustment, makes the body in jump process more stretch.
9. the variable biped hopping robot of the pneumatic muscles driving arm of force according to claim 1, it is characterised in that：It is described
Spring system（V）, which includes elastomeric spring（1、5、9）, the elastomeric spring can be used for keep biped robot it is initial
Posture；Play the role of buffering during landing, simultaneously because elastomeric spring compresses, power when storage is for next take-off.
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| CN111645774A (en) * | 2020-06-03 | 2020-09-11 | 浙江大学 | Rear-sky-turning biped robot |
| CN112590961A (en) * | 2020-12-24 | 2021-04-02 | 上海大学 | Bionic jumping leg adopting pneumatic series elastic joints |
| CN112810786A (en) * | 2021-02-26 | 2021-05-18 | 中国船舶科学研究中心 | Double-foot supporting device for near-bottom propulsion of submersible vehicle and supporting mode thereof |
| CN113635992A (en) * | 2021-06-15 | 2021-11-12 | 上海大学 | Bionic jumping leg driven by double-joint pneumatic artificial muscle |
| CN114228854A (en) * | 2022-01-27 | 2022-03-25 | 吉林大学 | Flea-like mole heterochronous double-energy-storage type high-angle jumping robot and jumping method thereof |
| CN115257997A (en) * | 2022-09-05 | 2022-11-01 | 北京理工大学 | Bionic obstacle-surmounting double-foot jumping mechanical device |
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| CN111645774A (en) * | 2020-06-03 | 2020-09-11 | 浙江大学 | Rear-sky-turning biped robot |
| CN112590961A (en) * | 2020-12-24 | 2021-04-02 | 上海大学 | Bionic jumping leg adopting pneumatic series elastic joints |
| CN112810786A (en) * | 2021-02-26 | 2021-05-18 | 中国船舶科学研究中心 | Double-foot supporting device for near-bottom propulsion of submersible vehicle and supporting mode thereof |
| CN112810786B (en) * | 2021-02-26 | 2022-04-12 | 中国船舶科学研究中心 | Double-foot line supporting device for near-bottom propulsion of submersible vehicle and line supporting method thereof |
| CN113635992A (en) * | 2021-06-15 | 2021-11-12 | 上海大学 | Bionic jumping leg driven by double-joint pneumatic artificial muscle |
| CN113635992B (en) * | 2021-06-15 | 2023-02-10 | 上海大学 | Bionic jumping leg driven by double-joint pneumatic artificial muscle |
| CN114228854A (en) * | 2022-01-27 | 2022-03-25 | 吉林大学 | Flea-like mole heterochronous double-energy-storage type high-angle jumping robot and jumping method thereof |
| CN115257997A (en) * | 2022-09-05 | 2022-11-01 | 北京理工大学 | Bionic obstacle-surmounting double-foot jumping mechanical device |
| CN115257997B (en) * | 2022-09-05 | 2023-10-27 | 北京理工大学 | Bionic obstacle-surmounting biped jumping mechanical device |
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Application publication date: 20180918 |