CN111152861B - Eight-connecting-rod structure jumping robot with adjustable aerial posture - Google Patents
Eight-connecting-rod structure jumping robot with adjustable aerial posture Download PDFInfo
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- CN111152861B CN111152861B CN202010025516.7A CN202010025516A CN111152861B CN 111152861 B CN111152861 B CN 111152861B CN 202010025516 A CN202010025516 A CN 202010025516A CN 111152861 B CN111152861 B CN 111152861B
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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 an air attitude-adjustable eight-connecting-rod structure jumping robot, which belongs to the technical field of robots and comprises a machine body mechanism, an energy storage and release mechanism, a swing rod mechanism and a control module, wherein the machine body mechanism is a planar eight-connecting-rod structure comprising a power short arm rod I, a power long arm rod I, a long arm rod II, a short arm rod, a swing arm rod, a power long arm rod II and a power short arm rod II, the energy storage and release mechanism mainly comprises a direct-current speed reduction motor, a planet carrier, a one-way bearing, a gear I, a gear II, a gear III, a rope winding shaft and a rope winding, the swing rod structure comprises a rotating motor, a swing rod and a flywheel connecting piece, and the control module comprises a core control panel, a communication module, a direct-current motor driver, a. The invention can stably take off, and has controllable jumping height and jumping air posture, good flexibility and high energy utilization rate.
Description
Technical Field
The invention relates to an eight-connecting-rod structure hopping robot with an adjustable aerial posture, and belongs to the technical field of robots.
Background
With the development of the technology, the robot technology is widely applied in various aspects, and particularly in the fields of interstellar exploration, life rescue, military reconnaissance and the like, various complex and unstructured working environments exist, so that the robot is required to be small in size and have strong obstacle crossing capability.
The bouncing is a very common motion mode in nature, such as frogs, kangaroos, locusts and the like, and compared with crawling, the bouncing has the characteristics of wide range of motion, high moving efficiency, strong explosive force and the like, so that the bouncing function is widely applied to the field of robots and is particularly suitable for being applied to unstructured working environments. However, most of the existing hopping robot designs are limited to the hopping principle, namely hopping can be achieved simply, but the hopping stability, the hopping height, the attitude controllability and the like are concerned little, and meanwhile, the control research on the air attitude is little, so that the existing robot has large angular momentum after hopping, the air rotation problem is serious, and the robot cannot control the air attitude.
Disclosure of Invention
The invention aims to provide an eight-connecting-rod structure hopping robot with adjustable air posture, which can stably take off and hop, is controllable in hopping height and hopping air posture, good in flexibility and high in energy utilization rate.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an eight-connecting-rod structure hopping robot with adjustable air postures comprises a body mechanism, an energy storage and release mechanism, a swing rod mechanism and a control module;
the machine body mechanism is a plane eight-connecting-rod structure comprising a first power short arm rod, a first power long arm rod, a first long arm rod, a second long arm rod, a short arm rod, a rocker arm rod, a second power long arm rod and a second power short arm rod, a supporting leg is fixedly connected with the tail end of the leg rod, one ends of the first power short arm rod and the second power short arm rod are respectively connected with two ends of a first connecting shaft, the first connecting shaft is fixedly connected on the leg rod, the other ends of the first power short arm rod and the second power short arm rod are respectively connected with two ends of a second connecting shaft, one ends of the first power long arm rod and the second power long arm rod are respectively connected with two ends of the second connecting shaft, the first torsion spring is sleeved at one end of the second connecting shaft, two ends of the first torsion spring are respectively connected on the first power short arm rod and the first power long arm rod, the second torsion spring is sleeved at the other end of the second connecting shaft, two ends of the second torsion spring are, one end of the rocker arm rod is connected with a third connecting shaft which is fixedly connected with the leg rod, the other end of the rocker arm rod is connected with a fourth connecting shaft which is fixedly connected with one end of a second long arm rod, one end of the connecting rod is connected with the second connecting shaft, the other end of the connecting rod is connected with a fifth connecting shaft which is fixedly connected with a fifth short arm rod, the other end of the short arm rod is connected with a sixth connecting shaft which is fixedly connected with the leg rod, one end of the first long arm rod is connected with the fifth connecting shaft, the other end of the first long arm rod is connected with a seventh connecting shaft which is fixedly connected with a first tail end machine body, one end of the second long arm rod is connected with the fourth connecting, the first power long arm rod and the second power long arm rod are respectively connected with the eighth connecting shaft, and two ends of the eighth connecting shaft are fixedly connected to the first tail end machine body and the second tail end machine body respectively;
the energy storage and release mechanism mainly comprises a direct current speed reducing motor, a planet carrier, a one-way bearing, a first gear, a second gear, a third gear, a rope winding shaft and a rope winding, wherein the direct current speed reducing motor is fixed on the second tail end machine body, the one-way bearing is sleeved on an output shaft of the direct current speed reducing motor, the planet carrier is sleeved on the outer side of the one-way bearing, the gear is sleeved on the output shaft of the direct current speed reducing motor, the second gear is connected to the planet carrier, the third gear is fixed on the rope winding shaft, the rope winding shaft is sleeved on a rotating shaft, the rotating shaft is fixedly connected with the second tail end machine body, the first gear and the second gear are always in a meshed state, the meshed state of the second gear and the third gear is related to the rotating direction of the direct current speed reducing motor, the second gear is meshed with the third gear when the direct current speed reducing motor rotates forwards, the, the other end is tied on the leg rod, and when the direct current reducing motor rotates forwards to drive the rope winding shaft to rotate, the rope winding can be wound on the rope winding shaft;
the swing rod structure comprises a rotating motor, a swing rod and a flywheel connecting piece, the rotating motor is fixed on a first tail end machine body, a first transmission gear is fixed on a motor shaft of the rotating motor, a rotating shaft of a second transmission gear is fixed on the first tail end machine body, the second transmission gear is meshed with the first transmission gear, the flywheel connecting piece is fixed on a second transmission gear, the swing rod is fixed on the flywheel connecting piece, one end of the swing rod is fixedly connected with a first counter weight connecting piece, the first counter weight connecting piece is fixedly connected with a first counter weight pin and a second counter weight pin, the other end of the swing rod is fixedly connected with a second counter weight connecting piece, and;
the control module is composed of a core control panel, a communication module, a direct current motor driver, a lithium battery and an attitude acquisition module, wherein the core control panel is fixed on the outer side of the second terminal machine body, the storage and the operation of a control program in the motion process of the robot are realized, the communication module is fixed on the outer side of the second terminal machine body, the communication with the core control panel is realized, and a control instruction from the outside is received, the direct current motor driver is fixed on the inner side of the second terminal machine body, the motion rotation control of the direct current speed reducing motor and the rotating motor is realized, the lithium battery provides electric energy for the robot and is fixed on the outer side of the second terminal machine body, the attitude acquisition module is fixed on the inner side of the.
The technical scheme of the invention is further improved as follows: the first power long arm rod is located on the outer side of the first power short arm rod, and the second power long arm rod is located on the outer side of the second power short arm rod.
The technical scheme of the invention is further improved as follows: the first power short arm rod and the second power short arm rod are symmetrically arranged relative to the leg rod, and the first torsion spring and the second torsion spring are symmetrically sleeved at two ends of the second connecting shaft.
Due to the adoption of the technical scheme, the invention has the technical progress that:
according to the hopping robot with the eight-link structure and the adjustable air posture, disclosed by the invention, stable jumping motion of the posture is realized through the machine body mechanism, the controllability of the jumping height of the hopping robot is realized through the energy accumulation and release mechanism, the stable regulation and control of the air posture of the robot can be realized through the swing rod mechanism, and the control module realizes the control of the motion of the robot through the posture collection and remote communication feedback of the robot.
The robot body mechanism is a plane eight-connecting-rod structure comprising a first power short arm rod, a first power long arm rod, a first long arm rod, a second long arm rod, a short arm rod, a rocker arm rod, a second power long arm rod and a second power short arm rod, simulates a straight line ejection mechanism, realizes stable take-off of the hopping robot, and provides a foundation for realizing the stability of the robot in the air posture.
The energy storage and release structure adopts a rope driving mode, high-efficiency energy storage efficiency is achieved, meanwhile, the robot can release energy at any energy storage position such as take-off, in the air and the like, the jump height is effectively adjusted, and the swing rod structure controls the swing rod and the rotation of the balance weight connecting piece and the balance weight pin on the swing rod, so that the angular momentum of the robot is absorbed to control the air posture of the robot.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a left side schematic view of the fuselage mechanism of the present invention;
FIG. 3 is a right side schematic view of the fuselage mechanism of the present invention;
FIG. 4 is a schematic diagram of a partial structure of the energy storage and release mechanism of the present invention;
FIG. 5 is a schematic view of the overall structure of the energy storage and release mechanism of the present invention;
FIG. 6 is a schematic structural view of a swing link mechanism of the present invention;
FIG. 7 is a schematic diagram of a control module according to the present invention;
FIG. 8 is a schematic diagram of the robot energy storage state of the present invention;
FIG. 9 is a schematic view of the jumping state of the robot of the present invention;
wherein, 1, a machine body mechanism, 11, supporting feet, 12, leg rods, 13, a first connecting shaft, 14, a first power short arm rod, 15, a second connecting shaft, 16, a first power long arm rod, 17, a connecting rod, 18, a fifth connecting shaft, 19, a first long arm rod, 110, a seventh connecting shaft, 111, a first tail end machine body, 112, a eighth connecting shaft, 113, a second tail end machine body, 114, a second long arm rod, 115, a fourth connecting shaft, 116, a short arm rod, 117, a sixth connecting shaft, 118, a rocker arm rod, 119, a first torsion spring, 120, a second torsion spring, 121, a second power long arm rod, 122, a third connecting shaft, 123, a second power short arm rod, 2, an energy storage and release mechanism, 21, a direct current speed reducing motor, 22, a planet carrier, 23, a one-way bearing, 24, a first gear, 25, a second gear, 26, a rope winding shaft, 27, a third gear, 28, a rotating shaft, 29, a rope winding, a 3, a swing rod mechanism, 31, 33. the device comprises a second balance weight pin 34, a first balance weight connecting piece 35, a swing rod 36, a flywheel connecting piece 37, a second transmission gear 38, a first transmission gear 39, a second balance weight connecting piece 310, a third balance weight pin 311, a fourth balance weight pin 4, a control module 41, a core control board 42, a communication module 43, a direct current motor driver 44, a lithium battery 45 and an attitude acquisition module.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description:
an eight-link structure hopping robot with an adjustable air posture is shown in figure 1 and comprises a body mechanism 1, an energy storage and release mechanism 2, a swing rod mechanism 3 and a control module 4.
As shown in fig. 2 and 3, the fuselage mechanism 1 of the invention is a planar eight-link structure including a first power short-arm lever 14, a first power long-arm lever 16, a first long-arm lever 19, a second long-arm lever 114, a short-arm lever 116, a rocker lever 118, a second power long-arm lever 121 and a second power short-arm lever 123, the support leg 11 is fixedly connected with the end of the leg lever 12, one ends of the first power short-arm lever 14 and the second power short-arm lever 123 are respectively connected with two ends of a first connecting shaft 13, the first connecting shaft 13 is fixedly connected with the leg lever 12, the other ends of the first power short-arm lever 14 and the second power short-arm lever 123 are respectively connected with two ends of a second connecting shaft 15, one ends of the first power long-arm lever 16 and the second power long-arm lever 121 are respectively connected with two ends of a second connecting shaft 15, the first power long-arm lever 16 is positioned outside the first power short-arm lever 14, the second power long-arm lever 121 is positioned outside the second power short-arm lever 123, and the first power short-arm lever, the first torsion spring 119 is sleeved at one end of the second connecting shaft 15, two force arm ends of the first torsion spring 119 are respectively connected to the first power short arm rod 14 and the first power long arm rod 16, the second torsion spring 120 is sleeved at the other end of the second connecting shaft 15, the first torsion spring 119 and the second torsion spring 120 are symmetrically sleeved at two ends of the second connecting shaft 15, two force arm ends of the second torsion spring 120 are respectively connected to the second power short arm rod 123 and the second power long arm rod 121, one end of the rocker arm rod 118 is connected to the third connecting shaft 122, the third connecting shaft 122 is fixedly connected to the leg rod 12, the other end of the rocker arm rod 118 is connected to the fourth connecting shaft 115, the fourth connecting shaft 115 is fixedly connected to one end of the second long arm rod 114, one end of the connecting rod 17 is connected to the second connecting shaft 15, the other end of the connecting rod 17 is connected to the fifth connecting shaft 18, the fifth connecting shaft 18 is fixedly connected to the short arm, one end of the first long-arm rod 19 is connected to the first connecting shaft 18, the other end of the first long-arm rod is connected to the seventh connecting shaft 110, the seventh connecting shaft 110 is fixedly connected to the first tail end machine body 111, one end of the second long-arm rod 114 is connected to the fourth connecting shaft 115, the other end of the second long-arm rod is connected to the seventh connecting shaft 110, the second long-arm rod 114 is also connected to the fifth connecting shaft 18, the first power long-arm rod 16 and the second power long-arm rod 121 are respectively connected to the eighth connecting shaft 112, and two ends of the eighth connecting shaft 112 are fixedly connected to the first tail end machine.
As shown in fig. 4 and 5, the energy storage and release mechanism 2 of the present invention mainly comprises a dc gear motor 21, a planetary carrier 22, a one-way bearing 23, a first gear 24, a second gear 25, a third gear 27, a rope winding shaft 26 and a rope winding 29, wherein the dc gear motor 21 is fixed on the second terminal machine body 113, the one-way bearing 23 is sleeved on the output shaft of the dc gear motor 21, the planetary carrier 22 is sleeved on the outer side of the one-way bearing 23, the first gear 24 is sleeved on the output shaft of the dc gear motor 21, the second gear 25 is connected to the planetary carrier 22, the third gear 27 is fixed on the rope winding shaft 26, the rope winding shaft 26 is sleeved on the rotating shaft 28, the rotating shaft 28 is fixedly connected with the second terminal machine body 113, the first gear 24 and the second gear 25 are always in a meshed state, the meshed state of the second gear 25 and the third gear 27 is related to the rotation direction of the dc gear motor 21, when the dc gear motor 21 rotates reversely, the second gear 25 and the third gear 27 are in a non-meshed state under the action of the one-way bearing 23, one end of the rope reel 29 is tied to the rope reel 26, and the other end is tied to the leg rod 12, and when the dc gear motor 21 rotates clockwise to drive the rope reel 26 to rotate, the rope reel 29 is wound on the rope reel 26.
As shown in fig. 6, the swing link structure 3 includes a rotating electrical machine 31, a swing link 35 and a flywheel connecting piece 36, the rotating electrical machine 31 is fixed on the first end fuselage 111, the first transmission gear 38 is fixed on the electrical machine shaft of the rotating electrical machine 31, the rotating shaft of the second transmission gear 37 is fixed on the first end fuselage 111, the second transmission gear 37 is meshed with the first transmission gear 38, the flywheel connecting piece 36 is fixed on the second transmission gear 37, the swing link 35 is fixed on the flywheel connecting piece 36, one end of the swing link 35 is fixedly connected with the first counterweight connecting piece 34, the first counterweight connecting piece 34 is fixedly connected with the first counterweight pin 32 and the second counterweight pin 33, the other end of the swing link 35 is fixedly connected with the second counterweight connecting piece 39, and the second counterweight connecting piece 39.
As shown in fig. 7, the control module 4 is composed of a core control board 41, a communication module 42, a dc motor driver 43, a lithium battery 44 and an attitude acquisition module 45, the core control board 41 is fixed outside the second terminal body 113 to store and operate a control program in the robot motion process, the communication module 42 is fixed outside the second terminal body 113 to communicate with the core control board 41 and receive control instructions from the outside, the dc motor driver 43 is fixed inside the second terminal body 113 to control the motion rotation of the dc gear motor 21 and the rotating motor 31, the lithium battery 44 supplies power to the robot and is fixed outside the second terminal body 113, and the attitude acquisition module 45 is fixed inside the first terminal body 111 to monitor the airborne attitude of the jumping robot.
As shown in fig. 8 and 9, when the hopping robot with the eight-link structure and adjustable posture in the air takes off, the direct current speed reducing motor 21 rotates in the forward direction, the planet carrier 22 keeps unchanged due to the action of the one-way bearing 23, the direct current speed reducing motor 21 drives the gear one 24 to rotate, the gear one 24 drives the gear two 25 to rotate, the gear two 25 drives the gear three 27 to rotate, the gear three 27 is fixedly connected to the rope winding shaft 26, the rope winding shaft 26 rotates, the rope winding shaft 26 winds the rope winding 29, and at the moment, the torsion spring one 119 and the torsion spring 120 are compressed when the rope winding shaft 26 continuously winds the rope winding 29, so that energy accumulation is realized; during jumping, the direct current speed reducing motor 21 rotates reversely, the planet carrier 22 rotates under the action of the one-way bearing 23, the gear II 25 is separated from the gear III 27, the rope reel 29 is gradually separated from the rope reel 26, elastic potential energy accumulated by the torsion spring I119 and the torsion spring II 120 is released, and the jumping robot finishes jumping; when the robot jumps into the air, the rotating motor 31 rotates according to the attitude information acquired by the attitude acquisition module 45, and the swing rod 35 and the first counterweight connecting piece 34, the second counterweight connecting piece 39, the first counterweight pin 32, the second counterweight pin 33, the third counterweight pin 310 and the fourth counterweight pin 311 on the swing rod are controlled to rotate through the first transmission gear 38 and the second transmission gear 37, so that the angular momentum of the robot is absorbed to control the air attitude of the robot.
Claims (3)
1. The utility model provides an eight connecting rod structure hopping robot of aerial gesture adjustable which characterized in that: comprises a machine body mechanism (1), an energy storage and release mechanism (2), a swing rod mechanism (3) and a control module (4);
the machine body mechanism (1) is of a plane eight-connecting-rod structure comprising a first power short arm rod (14), a first power long arm rod (16), a first long arm rod (19), a second long arm rod (114), a short arm rod (116), a rocker arm rod (118), a second power long arm rod (121) and a second power short arm rod (123), a supporting leg (11) is fixedly connected with the tail end of the leg rod (12), one ends of the first power short arm rod (14) and the second power short arm rod (123) are respectively connected with two ends of a first connecting shaft (13), the first connecting shaft (13) is fixedly connected on the leg rod (12), the other ends of the first power short arm rod (14) and the second power short arm rod (123) are respectively connected with two ends of a second connecting shaft (15), one ends of the first power long arm rod (16) and the second power long arm rod (121) are respectively connected with two ends of the second connecting shaft (15), and a first torsion spring (119) is sleeved at one end of the second connecting shaft (15), two force arm ends of a first torsion spring (119) are respectively connected to a first power short arm rod (14) and a first power long arm rod (16), a second torsion spring (120) is sleeved at the other end of a second connecting shaft (15), two force arm ends of the second torsion spring (120) are respectively connected to a second power short arm rod (123) and a second power long arm rod (121), one end of a rocker arm rod (118) is connected to a third connecting shaft (122), the third connecting shaft (122) is fixedly connected to a leg rod (12), the other end of the rocker arm rod (118) is connected to a fourth connecting shaft (115), the fourth connecting shaft (115) is fixedly connected to one end of a second long arm rod (114), one end of a connecting rod (17) is connected to the second connecting shaft (15), the other end of the connecting rod (17) is connected to a fifth connecting shaft (18), the fifth connecting shaft (18) is fixedly connected to the short arm rod (116), and the other end of the short arm rod (116) is connected to a sixth, a connecting shaft six (117) is fixedly connected to the leg rod (12), one end of a long arm rod I (19) is connected to a connecting shaft five (18), the other end of the long arm rod I is connected to a connecting shaft seven (110), the connecting shaft seven (110) is fixedly connected to a tail end machine body I (111), one end of a long arm rod II (114) is connected to a connecting shaft four (115), the other end of the long arm rod II is connected to the connecting shaft seven (110), the long arm rod II (114) is also connected to the connecting shaft five (18), a power long arm rod I (16) and a power long arm rod II (121) are respectively connected to a connecting shaft eight (112), and two ends of the connecting shaft eight (112) are respectively connected to the tail end machine body I (111) and the tail end machine body II (113);
the energy storage and release mechanism (2) mainly comprises a direct current speed reducing motor (21), a planet carrier (22), a one-way bearing (23), a first gear (24), a second gear (25), a third gear (27), a rope rolling shaft (26) and a rope rolling (29), wherein the direct current speed reducing motor (21) is fixed on a second terminal machine body (113), the one-way bearing (23) is sleeved on an output shaft of the direct current speed reducing motor (21), the planet carrier (22) is sleeved on the outer side of the one-way bearing (23), the first gear (24) is sleeved on the output shaft of the direct current speed reducing motor (21), the second gear (25) is connected to the planet carrier (22), the third gear (27) is fixed on the rope rolling shaft (26), the rope rolling shaft (26) is sleeved on a rotating shaft (28), the rotating shaft (28) is fixedly connected with the second terminal machine body (113), the first gear (24) and the second gear (25) are always in a meshing state, and the meshing state of the second gear (25) and the third gear (27) is related to, when the direct-current speed reducing motor (21) rotates forwards, the gear II (25) is meshed with the gear III (27), when the direct-current speed reducing motor (21) rotates backwards, the gear II (25) and the gear III (27) are in a non-meshed state under the action of the one-way bearing (23), one end of the rope winding (29) is tied to the rope winding shaft (26), the other end of the rope winding (29) is tied to the leg rod (12), and when the direct-current speed reducing motor (21) rotates forwards to drive the rope winding shaft (26) to rotate, the rope winding (29) can be wound on the rope winding shaft (26);
the swing link structure (3) comprises a rotating motor (31), the device comprises a swing rod (35) and a flywheel connecting piece (36), wherein a rotating motor (31) is fixed on a first tail end machine body (111), a first transmission gear (38) is fixed on a motor shaft of the rotating motor (31), a rotating shaft of a second transmission gear (37) is fixed on the first tail end machine body (111), the second transmission gear (37) is meshed with the first transmission gear (38), the flywheel connecting piece (36) is fixed on the second transmission gear (37), the swing rod (35) is fixed on the flywheel connecting piece (36), one end of the swing rod (35) is fixedly connected with a first counterweight connecting piece (34), the first counterweight connecting piece (34) is fixedly connected with a first counterweight pin (32) and a second counterweight pin (33), the other end of the swing rod (35) is fixedly connected with a second counterweight connecting piece (39), and the second counterweight connecting piece (39) is fixedly connected with a third counterweight pin (310;
the control module (4) is composed of a core control panel (41), a communication module (42), a direct current motor driver (43), a lithium battery (44) and a posture acquisition module (45), the core control panel (41) is fixed on the outer side of the second tail end machine body (113) to store and operate a control program in the moving process of the robot, the communication module (42) is fixed on the outer side of the second tail end machine body (113) to achieve communication with the core control panel (41) and receive control instructions from the outside, the direct current motor driver (43) is fixed on the inner side of the second tail end machine body (113) to achieve movement rotation control over the direct current speed reducing motor (21) and the rotating motor (31), the lithium battery (44) provides electric energy for the robot and is fixed on the outer side of the second tail end machine body (113), the attitude acquisition module (45) is fixed on the inner side of the first tail end machine body (111) to achieve monitoring of the air attitude of the jumping robot.
2. The eight-link structure hopping robot with adjustable aerial posture according to claim 1, wherein: the first power long arm rod (16) is positioned on the outer side of the first power short arm rod (14), and the second power long arm rod (121) is positioned on the outer side of the second power short arm rod (123).
3. The eight-link structure hopping robot with adjustable aerial posture according to claim 1, wherein: the first power short arm rod (14) and the second power short arm rod (123) are symmetrically arranged relative to the leg rod (12), and the first torsion spring (119) and the second torsion spring (120) are symmetrically sleeved at two ends of the second connecting shaft (15).
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| CN112758203B (en) * | 2021-01-19 | 2022-04-15 | 上海工程技术大学 | Single-leg jumping robot mechanism |
| CN113602373B (en) * | 2021-08-01 | 2022-09-09 | 北京工业大学 | Jumping robot used in complex terrain environment and test platform thereof |
| CN114275073B (en) * | 2022-01-25 | 2023-01-20 | 清华大学 | Jumping robot |
| CN114572323A (en) * | 2022-03-28 | 2022-06-03 | 武汉科技大学 | Torsional spring energy storage type eight-connecting-rod micro bouncing robot |
| 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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| EP1344610B1 (en) * | 2000-09-29 | 2010-02-10 | Honda Giken Kogyo Kabushiki Kaisha | Bipedal robot |
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| CN101797937A (en) * | 2010-04-12 | 2010-08-11 | 北京航空航天大学 | Bionic galloping robot based on connecting rod mechanism |
| CN202827835U (en) * | 2012-09-27 | 2013-03-27 | 浙江大学 | Robot mechanism capable of jumping with one leg |
| CN103264733A (en) * | 2013-04-24 | 2013-08-28 | 浙江大学 | Single-leg robot in-place jumping mechanism with power energy storage function |
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