CN110077487A - A kind of eight biped robot of imitative spider - Google Patents
A kind of eight biped robot of imitative spider Download PDFInfo
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- CN110077487A CN110077487A CN201910402908.8A CN201910402908A CN110077487A CN 110077487 A CN110077487 A CN 110077487A CN 201910402908 A CN201910402908 A CN 201910402908A CN 110077487 A CN110077487 A CN 110077487A
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- pedipulator
- steering engine
- leg
- imitative
- gait
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a kind of imitative eight biped robots of spider of robotic technology field, aim to solve the problem that the technical issues of caterpillar type robot in the prior art and wheeled robot can not adapt to rugged road surface, a kind of eight biped robot of imitative spider, including trunk, eight completely identical in structure pedipulators are evenly distributed on around trunk, the pedipulator is respectively the first from left pedipulator L1, the second from left pedipulator L2, three pedipulator L3 of a left side, four pedipulator L4 of a left side, one pedipulator R1 of the right side, two pedipulator R2 of the right side, three pedipulator R3 of the right side, four pedipulator R4 of the right side, eight pedipulators work in coordination and can pass through triped gait, quadrangle gait, five jiaos of gaits, fixed point turning gait realizes stabilized walking.Eight biped robot of imitative spider of the present invention can carry out stabilized walking on rugged road surface, while can realize according to demand through a variety of gait stability walkings such as triped gait, quadrangle gait, five jiaos of gaits, fixed point turning gaits.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of imitative eight biped robot of spider.
Background technique
Mobile robot is as the most important a kind of branch of robot field, by caterpillar type robot, wheeled robot
It is collectively constituted with legged type robot three parts.Caterpillar type robot and wheeled robot have stable structure, fast speed etc. excellent
Point, but height is required to ground, flexibility is poor, can not adapt to rugged road surface and muddy marsh.In certain specific works
Make in environment, people there is an urgent need to a kind of motion stabilization, maneuverability, can theoretically reach the machine at any point on ground
Thus people, legged type robot are born and rapidly become the hot spot of academia's research.Domestic and foreign scholars are to legged type robot at present
Research is related to eight biped robots less mainly in four-footed and hexapod robot.
Summary of the invention
The purpose of the present invention is to provide a kind of imitative eight biped robots of spider, to solve caterpillar type robot in the prior art
The technical issues of can not adapting to rugged road surface with wheeled robot.
In order to achieve the above objectives, the technical scheme adopted by the invention is that: a kind of imitative eight biped robot of spider, including body
Dry, eight completely identical in structure pedipulators are evenly distributed on around trunk, and the pedipulator is respectively the first from left pedipulator L1, a left side
Two pedipulator L2, three pedipulator L3 of a left side, four pedipulator L4 of a left side, one pedipulator R1 of the right side, two pedipulator R2 of the right side, three pedipulator R3 of the right side,
Four pedipulator R4 of the right side, eight pedipulators are worked in coordination can be by triped gait, quadrangle gait, five jiaos of gaits, fixed point turning step
State realizes stabilized walking.
The pedipulator includes base pitch, meropodium, tibia, and one end of base pitch and the shaft of the first steering engine are hinged, constitutes root and closes
The rotor shaft direction of section, the first steering engine is connected perpendicular to plane where trunk, the other end of the first steering engine and the first steering engine bracket, the
One steering engine bracket and trunk are connected；The base pitch other end is hinged with meropodium, and meropodium is hinged with tibia, swing base pitch realize advance, after
It moves back, turning action；It swings meropodium and tibia realizes lift leg and receives leg movement.
The base pitch includes the second steering engine bracket, and second steering engine bracket one end and the shaft of the first steering engine are hinged, the other end
It is connected with the second steering engine, the rotor shaft direction of the second steering engine is parallel to plane where trunk.
The meropodium includes third steering engine bracket, and third steering engine bracket one end and the shaft of the second steering engine are hinged, constitutes hip
Joint, the other end and third steering engine are connected, and the rotor shaft direction of third steering engine is parallel to plane where trunk.
The tibia includes imitative tibia connecting rod, imitates tibia connecting rod one end and the shaft of third steering engine is hinged, constitute knee joint.
Supporting leg and the variation led leg be in the triped gait: supporting leg be followed successively by L2R1R4, L1L3R3,
L2L4R2,L3R1R4,L1L4R3,L2R2R4,L3R1R3,L1L4R2；Lead leg be followed successively by L1L3L4R2R3, L2L4R1R2R4,
L1L3R1R2R4、L1L2L4R2R3、L2L3R1R2R4、L1L3L4R1R3、L1L2L4R2R4、L2L3R1R3R4。
Supporting leg and the variation led leg be in the quadrangle gait: supporting leg is followed successively by L2L4R1R3, L1L3R2R4；Pendulum
Dynamic leg is followed successively by L1L3R2R4, L2L4R1R3.
Supporting leg and the variation led leg be in five jiaos of gaits: supporting leg be followed successively by L1L2L3R2R4,
L2L3L4R1R3,L1L3L4R2R4,L1L2R1R3R4,L1L3R2R3R4,L2L4R1R2R3,L1L3R1R2R4,L1L2L4R1R3；
It leads leg and is followed successively by L4R1R3, L1R2R4, L2R1R3, L3L4R2, L2L4R1, L1L3R4, L2L4R3, L3R2R4.
Supporting leg and the variation led leg be in fixed point turning gait: supporting leg be followed successively by L2L4R1R3,
L1L3R2R4；It leads leg and is followed successively by L1L3R2R4, L2L4R1R3.
It compared with prior art, can advantageous effects of the invention: eight biped robot of imitative spider of the present invention
Stabilized walking is carried out on rugged road surface, while can be realized according to demand through triped gait, quadrangle gait, five jiaos of steps
A variety of gait stability walkings such as state, fixed point turning gait.
Detailed description of the invention
Fig. 1 is a kind of imitative eight biped robot overall structure diagram of spider provided in an embodiment of the present invention；
Fig. 2 is a kind of imitative eight biped robot pedipulator structural schematic diagram of spider provided in an embodiment of the present invention；
Fig. 3 is a kind of imitative eight biped robot triped gait figure of spider provided in an embodiment of the present invention；
Fig. 4 is a kind of imitative eight biped robot quadrangle gait figure of spider provided in an embodiment of the present invention；
Fig. 5 is a kind of five jiaos of gait figures of imitative eight biped robot of spider provided in an embodiment of the present invention；
Fig. 6 is a kind of imitative eight biped robot of spider fixed point turning gait figure provided in an embodiment of the present invention；
In figure, 1. the first from left pedipulator L1；2. the second from left pedipulator L2；3. three pedipulator L3 of a left side；4. four pedipulator L4 of a left side；5. right
One pedipulator R1；6. two pedipulator R2 of the right side；7. three pedipulator R3 of the right side；8. four pedipulator R4 of the right side；9. trunk；11. the first rudder
Machine support；12. the first steering engine；13. the second steering engine bracket；14. the second steering engine；15. third steering engine bracket；16. third steering engine；
17. imitative tibia connecting rod.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
It should be noted that in the description of the present invention, term "front", "rear", "left", "right", "upper", "lower", "inner",
The orientation or positional relationship of the instructions such as "outside" is to be merely for convenience of description originally based on orientation or positional relationship shown in the drawings
It invents rather than requires the present invention that must be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
Term "front", "rear" used in present invention description, "left", "right", "upper", "lower" refer to the direction in attached drawing, term
"inner", "outside" refer respectively to the direction towards or away from geometric center of specific component.
As shown in Figure 1, a kind of eight biped robot of imitative spider, eight pedipulators, respectively the first from left are uniformly distributed around trunk
Pedipulator L1, the second from left pedipulator L2, three pedipulator L3 of a left side, four pedipulator L4 of a left side, one pedipulator R1 of the right side, the right side two pedipulator R2, the right side
Three pedipulator R3, four pedipulator R4 of the right side, the structure of every pedipulator is identical, eight pedipulators work in coordination realization advance,
The movements such as retrogressing, steering.
As shown in Fig. 2, every pedipulator is by the first steering engine bracket, the first steering engine, the second steering engine bracket, the second steering engine,
Three steering engine brackets, third steering engine, imitative tibia connecting rod are constituted.One end of first steering engine bracket is fixed on trunk, the other end and
One steering engine is connected, and the rotor shaft direction of the first steering engine is perpendicular to plane where trunk.The shaft of first steering engine and the second steering engine bracket
One end connect into revolute pair, constitute the root joint of pedipulator.The other end and the second steering engine of second steering engine bracket are connected, and second
The rotor shaft direction of steering engine is parallel to plane where trunk, constitutes the base pitch of pedipulator, and base pitch, can be with around the first steering engine shaft swing
Realize forward or backward action.The shaft of second steering engine and one end of third steering engine bracket connect into revolute pair, constitute pedipulator
Hip joint.The other end and third steering engine of third steering engine bracket are connected, and the rotor shaft direction of third steering engine is parallel to where trunk
Plane constitutes the meropodium of pedipulator.The shaft of third steering engine and imitative tibia connecting rod connect into revolute pair, and the knee for constituting pedipulator closes
Section.Imitative tibia connecting rod is the tibia of pedipulator.Meropodium is around the second steering engine shaft swing, and tibia is around third steering engine shaft swing, stock
Section and tibia cooperative movement or independently movement may be implemented the lift leg of pedipulator, receive leg movement；When road surface is rugged and rough,
Trunk smooth motion may be implemented in meropodium and tibia cooperation amplitude of fluctuation, guarantees that trunk will not go out because road surface is rugged and rough
Now significantly pitching is shaken.The freedom degree of open kinematic chain is equal to the sum of all degree of freedom of kinematic pair on the kinematic chain, above-mentioned
The joint that constitutes there are three revolute pair of every pedipulator and by three servo drivings, degree of freedom of kinematic chain is equal to actuator
Number, so every pedipulator all has determining movement in space.
Eight biped robot of imitative spider of the present invention can be realized by the cooperation between eight pedipulators passes through triangle
A variety of gait stability walkings such as gait, quadrangle gait, five jiaos of gaits, fixed point turning gait.
Triped gait is the gaits that only three pedipulators are supporting leg at any time, and three supporting leg foot ends constitute one
A triangle, therefore named triped gait.When embodiment of the present invention is walked using triped gait, supporting leg and leading leg be experienced
Eight variations, supporting leg are followed successively by L2R1R4, L1L3R3, L2L4R2, L3R1R4, L1L4R3, L2R2R4, L3R1R3, L1L4R2,
Lead leg be followed successively by L1L3L4R2R3, L2L4R1R2R4, L1L3R1R2R4, L1L2L4R2R3, L2L3R1R2R4,
L1L3L4R1R3、L1L2L4R2R4、L2L3R1R3R4。
As shown in figure 3, eight moment of A, C, E, G, I, K, M, O be one group of supporting leg and setting in motion of leading leg it is critical when
It carves, eight moment of B, D, F, H, J, L, N, P are that a upper motion state terminates, and supporting leg and leading leg faces changed
Boundary's moment.For imitative eight biped robot of spider experience from moment A to the process of moment P, eight legs and trunk return to original relative position,
Start next period of motion.
Quadrangle gait is the gaits that only four pedipulators are supporting leg at any time, and four supporting leg foot ends constitute one
A quadrangle, therefore named quadrangle gait.When embodiment of the present invention is walked using quadrangle gait, supporting leg experienced to be become twice
Change, supporting leg is followed successively by L2L4R1R3, L1L3R2R4, leads leg and be followed successively by L1L3R2R4, L2L4R1R3.
As shown in figure 4, A, C are the critical moments of one group of supporting leg and setting in motion of leading leg, B, D are upper movement shapes
State terminates, and supporting leg and leads leg changed critical moment i.e..Imitative eight biped robot of spider experience is from moment A to moment
The process of D, eight legs and trunk return to original relative position, start next period of motion.
Five jiaos of gaits are the gaits that only five pedipulators are supporting leg at any time, and five supporting leg foot ends constitute one
A pentagon, therefore named five jiaos of gaits.When embodiment of the present invention is using five jiaos of gait walkings, supporting leg experienced eight changes
Change, supporting leg be followed successively by L1L2L3R2R4, L2L3L4R1R3, L1L3L4R2R4, L1L2R1R3R4, L1L3R2R3R4,
L2L4R1R2R3, L1L3R1R2R4, L1L2L4R1R3, lead leg be followed successively by L4R1R3, L1R2R4, L2R1R3, L3L4R2,
L2L4R1、L1L3R4、L2L4R3、L3R2R4。
As shown in figure 5, A, C, E, G, I, K, M, O are the critical moments of one group of supporting leg and setting in motion of leading leg, B, D,
F, H, J, L, N, P are that a upper motion state terminates, and supporting leg and are led leg changed critical moment i.e..Imitative spider eight
Biped robot is undergone from moment A to the process of moment P, and eight legs and trunk return to original relative position, start next movement
Period.
Fixed point turning gait is that the imitative position of eight biped robot trunk mass center of spider in space is constant, around mass center and is hung down
The gait directly rotated in the axis of trunk plane.When embodiment of the present invention is using fixed point turning gait motion, supporting leg experience
Change twice, supporting leg is followed successively by L2L4R1R3, L1L3R2R4, lead leg and be followed successively by L1L3R2R4, L2L4R1R3.
As shown in fig. 6, A, C are the critical moments of one group of supporting leg and setting in motion of leading leg, B, D are upper movement shapes
State terminates, and supporting leg and leads leg changed critical moment i.e..Imitative eight biped robot of spider experience is from moment A to moment
The process of D, eight legs and trunk return to original relative position.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of eight biped robot of imitative spider, characterized in that including trunk (9), eight completely identical in structure pedipulators are uniform
Be distributed in around trunk (9), the pedipulator is respectively the first from left pedipulator L1(1), the second from left pedipulator L2(2), left three pedipulators
L3(3), four pedipulator L4(4 of a left side), one pedipulator R1(5 of the right side), two pedipulator R2(6 of the right side), three pedipulator R3(7 of the right side), right four machines
Tool leg R4(8), eight pedipulators are worked in coordination can be real by triped gait, quadrangle gait, five jiaos of gaits, fixed point turning gait
Existing stabilized walking.
2. eight biped robot of imitative spider according to claim 1, characterized in that the pedipulator includes base pitch, meropodium, shin
Section, one end of base pitch and the shaft of the first steering engine (12) are hinged, composition root joint, the rotor shaft direction of the first steering engine (12) perpendicular to
Plane where trunk (9), the other end of the first steering engine (12) and the first steering engine bracket (11) are connected, the first steering engine bracket (11) and
Trunk (9) is connected；The base pitch other end is hinged with meropodium, and meropodium is hinged with tibia, swings base pitch and realizes that advance, retrogressing, turning are dynamic
Make；It swings meropodium and tibia realizes lift leg and receives leg movement.
3. eight biped robot of imitative spider according to claim 2, characterized in that the base pitch includes the second steering engine bracket
(13), second steering engine bracket (13) one end and the shaft of the first steering engine (12) are hinged, and the other end and the second steering engine (14) are connected, the
The rotor shaft direction of two steering engines (14) is parallel to plane where trunk (9).
4. according to imitative eight biped robot of spider as claimed in claim 2, characterized in that the meropodium includes third steering engine bracket
(15), third steering engine bracket (15) one end and the shaft of the second steering engine (14) are hinged, constitute hip joint, the other end and third steering engine
(16) it is connected, the rotor shaft direction of third steering engine (16) is parallel to plane where trunk (9).
5. according to imitative eight biped robot of spider as claimed in claim 2, characterized in that the tibia includes imitative tibia connecting rod (17),
Imitative tibia connecting rod (17) one end and the shaft of third steering engine (16) are hinged, constitute knee joint.
6. eight biped robot of imitative spider according to claim 1, characterized in that supporting leg and swing in the triped gait
The variation of leg is: supporting leg be followed successively by L2R1R4, L1L3R3, L2L4R2, L3R1R4, L1L4R3, L2R2R4, L3R1R3,
L1L4R2；Lead leg be followed successively by L1L3L4R2R3, L2L4R1R2R4, L1L3R1R2R4, L1L2L4R2R3, L2L3R1R2R4,
L1L3L4R1R3、L1L2L4R2R4、L2L3R1R3R4。
7. eight biped robot of imitative spider according to claim 1, characterized in that supporting leg and swing in the quadrangle gait
The variation of leg is: supporting leg is followed successively by L2L4R1R3, L1L3R2R4；It leads leg and is followed successively by L1L3R2R4, L2L4R1R3.
8. eight biped robot of imitative spider according to claim 1, characterized in that supporting leg and swing in five jiaos of gaits
The variation of leg is: supporting leg be followed successively by L1L2L3R2R4, L2L3L4R1R3, L1L3L4R2R4, L1L2R1R3R4,
L1L3R2R3R4,L2L4R1R2R3,L1L3R1R2R4,L1L2L4R1R3；Lead leg be followed successively by L4R1R3, L1R2R4, L2R1R3,
L3L4R2、L2L4R1、L1L3R4、L2L4R3、L3R2R4。
9. eight biped robot of imitative spider according to claim 1, characterized in that in the fixed point turning gait supporting leg and
The variation led leg is: supporting leg is followed successively by L2L4R1R3, L1L3R2R4；It leads leg and is followed successively by L1L3R2R4, L2L4R1R3.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115535112A (en) * | 2022-11-09 | 2022-12-30 | 深圳技术大学 | Bionic robot |
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