KR20170127764A - Jumping robot using offsetting of moment and synchronization of timing - Google Patents

Abstract

The present invention relates to a jumping robot using moment cancelation and operation timing synchronization which has a simple structure, improves jumping performance, and controls a jumping direction. According to the present invention, the jumping robot using moment cancelation and operation timing synchronization comprises: a body (11); a thigh link (12a) whose one end is linked and connected to a left and a right side of the body (11); a lower leg link (12b) whose upper end is linked and connected to the other end of the thigh link (12a); connection links (13) which include two links connected to the body (11) and the thigh link (12a), are linked and connected to each other, and are installed on both ends of the body (11) to form a four-joint link with the thigh link (12a) and the lower leg link (12b); a pair of energy storage units (14) wherein one end thereof is connected to the body (11), and the other end thereof is connected to one side of the connection links (13); a connection gear (16) having a rotational axis coaxially formed with a rotational center of the thigh link (12a) to be installed to rotate with the thigh link (12a); and a trigger (15) to pull the energy storage units (14) to the body (11) when jumping, wherein both ends thereof are connected to the energy storage units (14) and the body (11).

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a jumping robot that uses moment cancellation and operation timing synchronization,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a jump robot capable of moving through a jump, more specifically, to a jump robot using a simple structure to improve a jump performance and to control a jump direction.

A leapable robot can move dozens of times at a time compared to its size.

This leap function is actively being applied to small, millimeter-scale robots that can not overcome major obstacles.

These small jumping robots can be used for exploration of disaster sites and for acquiring information in military operations.

On the other hand, the hopping robot is also required to have a direction control function for hopping in a desired direction.

The method of controlling the hopping direction in the hopping robot according to the related art may be performed by rotating the hopping robot 111 and then jumping after rotating the hopping robot 111 as shown in FIG. The method of leaping after moving the center was applied.

1A, the hopping robot 111 is rotated and then jumped. In the initial state (a), the hopping robot 11 is rotated to set the direction (b), and the hopping robot 111 (C).

In the initial state (a), the center of gravity of the inside of the hopping robot 112 is moved to one side (b (b)) in the initial state (a) (C), and sets up the hopping robot 112 to jump.

However, in the jump robots 111 and 112 according to the related art as described above, the jump and the control of the jump direction are separated and the weight increases due to the addition of the additional device for switching the jump direction there was. The jump robots 111 and 112 have to be small in weight in order to jump, and an increase in weight due to the attachment of the additional robot has inevitably lowered the jump performance.

On the other hand, the following prior art reference discloses a technique related to a " hopping robot and its control method ".

KR 10-1166870 B

The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a jump robot using moment cancellation and operation timing synchronization that can simultaneously control a leap and a leap direction in leap.

It is another object of the present invention to provide a jumping robot using moment cancellation and operation timing synchronization so as to improve the jump performance.

According to an aspect of the present invention, there is provided a jumping robot using a moment cancellation and an operation timing synchronization according to the present invention. The jumping robot includes a body, a femoral link having one end connected to the left and right ends of the body, A lower link connected to the body and the femoral link and connected to each other and connected to each other at both ends of the body so as to be connected to the femoral link, A pair of energy storing parts connected at one end to the body and at the other end to one side of the interlocking link and a rotary shaft formed concentrically with the rotation center of the femoral link, The energy storage unit is connected to both ends of the energy storage unit, Groups include a trigger.

And the energy storage unit is installed in the inner side of the body rather than a portion where the interlocking link is linked with the body before the jump.

When the energy storage portion is pulled by the trigger and the energy storing portion is positioned outside the body where the interlocking link is linked with the body, the energy storing portion pulls the femoral link through the interlocking link and leaps .

The hitch links are synchronized with each other through the interlock gear.

And the direction of the jump is determined by adjusting an angle between the femoral link and the lower link.

The angle of the femoral link and the lower link in the direction of the leap is decreased, and the angle of the lower femur link and the lower link is increased, thereby determining the leap direction.

According to the jumping robot using the moment cancellation and the operation timing synchronization according to the present invention having the above-described configuration, by controlling the hopping direction when hopping through synchronization of two legs having respective energy storage units, You can control the leap direction.

FIG. 1A is a block diagram illustrating a process of leaping after a direction change in a jumping robot according to the related art
FIG. 1B is a block diagram illustrating a process of leapping a center of gravity of a jumping robot according to the related art
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot,
FIG. 3A is a schematic diagram showing an initial jump state of a hopping robot using a moment cancellation and an operation timing synchronization according to the present invention, FIG. 3B is a diagram illustrating a jump state of a hopping robot using a moment cancellation and an operation timing synchronization according to the present invention, A schematic.
FIG. 4 is a schematic view showing a direction switching mechanism of a jumping robot using moment cancellation and operation timing synchronization according to the present invention. FIG.
FIG. 5 is a diagram illustrating a force acting on a femoral link and a lower link in a jumping robot using a moment cancellation and an operation timing synchronization according to the present invention. FIG.
6 is a diagram illustrating a principle in which a moment is canceled in a jumping robot using a moment cancellation and an operation timing synchronization according to the present invention.
FIG. 7 is a view illustrating a principle in which a jump moment is canceled after a directional change in a jumping robot using a moment cancellation and an operation timing synchronization according to the present invention. FIG.
FIGS. 8A to 8C are photographs of an initial state of the jump robot using the moment cancellation and the operation timing synchronization according to the present invention. FIG.
9A to 9C are photographs of a state in which the interlocking gear is removed from the hopping robot in a jump state.
FIG. 10 is a photograph of the state of the jump robot with one leg removed; FIG.

Hereinafter, the jumping robot using the moment cancellation and the operation timing synchronization according to the present invention will be described in detail with reference to the accompanying drawings.

The jumping robot using the moment cancellation and the operation timing synchronization according to the present invention includes a body 11, a femoral link 12a to which one end is linked to the left and right sides of the body 11, A lower link 12b to which the upper end of the body 11 is connected by a link at the other end and two links connected to the body 11 and the femoral link 12a, And one end is connected to the body 11 and the other end is connected to one side of the interlocking link 13, A pair of energy storage units 14 connected to the pivot links 12a and a pair of energy storage units 14 connected to the pivot links 12a and a rotation shaft formed concentrically with the center of rotation of the pivot links 12a, Both ends of which are connected to the energy storing unit 14 and the body 11, An image storage unit 14 includes a trigger (15) pulling in the body (11).

The body 11 is provided with other components of the hopping robot, and the center of gravity CM of the hopping robot is located inside the body 11.

The femoral link 12a and the lower link 12b are linked to one side of the body 11 to simulate the femur and the femur.

One end of the femoral link 12a is linked to the body 11 and the other end is connected to one end of the lower link 12b. The other end of the lower link 12b is supported on the ground. A portion where the femoral link 12a and the lower link 12b are linked to each other becomes a knee joint. The angle between the femoral link 12a and the lower link 12b can be manually set at an initial time.

The interlocking link 13 is composed of two links. One of the interlocking links 13 is linked to the body 11, and the other is linked to the femoral link 12a. The body 11, the femoral link 12a and the interlocking link 13 form a four-section link through the interlocking link 13.

The energy storing unit 14 is installed to connect the body 11 and the interlocking link 13. The energy storage unit 14 may be a spring capable of storing elastic energy. The energy storage unit 14 may be configured such that the energy storing unit 14 is positioned at a position where the interlocking link 13 is connected to the body 11, (11). This is for pulling the interlocking link 13 to move to the upper part of the body 11 before the jump. If the energy storage unit 14 is positioned outside the body 11 with respect to the rotation center 17, the energy storage unit 14 may be configured to closely contact the interlocking link 13 with the side surface of the body 11 So that the hopping robot can leap.

The femoral link 12a, the lower link 12b, the interlocking link 13 and the energy storage unit 14 are installed on both right and left sides of the body 11 and are installed symmetrically.

The interlocking gear 16 is installed so that the right and left femoral links 12a are simultaneously interlocked. The rotation shaft of the interlocking gear 16 is installed concentrically with a portion where the femoral link 12a is linked to the body 11 and rotated. Therefore, the interlocking gear 16 rotates at the same angle as the fulcrum link 12a.

In addition, the interlocking gear 16 is installed on the fulcrum links 12a provided at both ends of the body 11, and the interlocking gears 16 are engaged with each other. This is so that the two femoral links 12a rotate at the same angle with each other.

The trigger 15 is installed to interlock one side of the body 11 and one side of the energy storage unit 14 with each other. The trigger 15 is provided on only one of left and right sides because the left and right femoral links 12a are simultaneously moved by the interlocking gear 16. The trigger 15 uses a spring-type shape memory alloy actuator, and uses a shrinkage characteristic when an electric current is applied.

A portion where the femoral link 12a is linked to the body 11 and a portion where the femur link 12a is linked to the lower link 12b are formed at a portion where the femur link 12a and the body 11 And a driving unit (not shown) that can change a relative angle between the lower link 12a and the lower link 12b.

The operation of the jumping robot using the moment cancellation and the operation timing synchronization as described above will be described below.

The energy storage unit 14 is located inside the body 11 with respect to the rotation center 17 so that the energy storage unit 14 can support the interlocking link 13 An elastic force acts on the upper part of the body 11 in the direction of lifting the femoral link 12a.

The jump starts when the trigger 15 pulls the energy storage unit 14, as shown in FIG. 3A.

When the trigger 15 pulls the energy storage unit 14, the energy storage unit 14 is moved to a position where the body 11 and the interlocking link 13 are hinge-connected, that is, The energy storage unit 14 pulls the interlocking link 13. At this time, while the femoral link 12a is folded toward the body 11, the hopping robot is leaped as shown in FIG. 3B.

At this time, the left and right femoral links 12a and the left and right lower links 12b of the jumping robot are synchronized and operated in the same manner by the interlocking gear 16, so that the left and right femoral links 12a rotate in the same direction, The hopping robot takes a leap.

Meanwhile, FIG. 4 shows a method of determining the hop direction of the hopping robot. The leap direction of the jumping robot determines the leap direction by adjusting the angle between the femoral link 12a and the lower link 12b. That is, the hopping robot shown on the left side of FIG. 4 is set in the hopping direction so as to jump to the left side, and the hopping robot shown on the right side is set to the hopping direction to jump to the right side. The angle between the femoral link 12a and the lower link 12b on the side of hopping is reduced and the angle between the lower link 12b and the lower link 12b on the opposite side is increased, Determine the leap direction. For example, in order to leap to the left, the angle between the left femoral link 12a and the right lower link 12b is reduced and the angle between the right femur link 12a and the lower link 12b is increased, Set the leap direction of the leaping robot to the left. On the other hand, in order to make the hopping robot jump to the right side, the angle between the right femoral link 12a and the right lower link 12b is reduced and the angle between the left femoral link 12a and the lower link 12b is increased.

FIG. 5 shows the principle of predicting the hop direction of the jumping robot.

5, the force acting on the lower link 12b is illustrated in the left part of FIG. 5, the force acting on the fulcrum link 12a is shown in the middle part of FIG. 5, 11, respectively.

Since the link connecting portion between the lower link 12b and the femoral link 12a, that is, the portion that becomes the knee joint in the hopping robot, is made of a freely rotatable joint, only a compressive force or a tensile force acts. Therefore, the moment acting on the shin bone is close to zero.

This expression is expressed as [Expression-1].

[Formula-1]

(Where L _tibia is the length of the lower link, F _Gx is the horizontal component of the reaction force of the lower link, F _Gy is the vertical component of the reaction force of the lower link, and θ _L is the angle between the lower link and the vertical line)

From this, it can be seen that the reaction force given to the robot on the ground is always on a line parallel to the shin bone. Using this, the direction of the jump can be predicted through the angle of the shin bone

Also, as shown in FIG. 6, the femoral link 12a and the lower link 12b disposed symmetrically with each other cancel the moment acting on the hopping robot.

In other words, the equation is expressed as follows. The angular acceleration caused by the moment is canceled by 0 (see Equation 2), and the acceleration in the x direction is also canceled (see Equation 3) It is possible to jump by.

[Formula-2]

[Equation 3]

[Equation 4]

은 우측 하퇴링크(12b) 하단의 반력의 수직성분,

은 좌측 하퇴링크(12b) 하단의 반력의 수직성분,

은 우측 하퇴링크(12b) 하단의 반력의 수평성분,

은 좌측 하퇴링크(12b) 하단의 반력의 수평성분, Ly는 로봇 질량중심에서 하퇴링크(12b) 하단까지의 수직방향 거리이고 Lx는 로봇 질량중심에서 하퇴링크(12b) 하단까지의 수평방향 거리이다.Where I is the rotational inertia of the robot,

The vertical component of the reaction force at the lower end of the right lower link 12b,

The vertical component of the reaction force at the lower end of the left lower link 12b,

The horizontal component of the reaction force at the lower end of the right lower link 12b,

Ly is a vertical distance from the center of the robot mass to the lower end of the lower link 12b and Lx is a horizontal distance from the robot mass center to the lower end of the lower link 12b .

Meanwhile, a case in which the hopping robot makes a jump in one direction will be described as follows. For example, when the hopping robot jumps to the right, the forces of the left and right legs (the femoral link and the lower link) in the x-axis direction are added to each other, so that the hopping robot can move to the right. At this time, most of the moment generated by the legs is canceled.

[Formula 5]

[Equation 6]

[Equation 7]

Ly and R are the vertical distance from the center of the robot mass to the lower end of the right lower link 12b, Lx and R are the horizontal distance from the center of the robot mass to the lower end of the right lower link 12b, Ly and L are the robot mass Lx and L are the horizontal distance from the center of the robot mass to the lower end of the left lower link 12b.

8A to 8C are photographs illustrating a state of the jump robot using the moment cancellation and the operation timing synchronization according to the present invention during the jump.

As described in the present invention, the interlocking gear 16, which is provided with the femoral link 12a and the lower link 12b at both left and right sides thereof and interlocks the femoral links 12a with each other, The hopping direction of the hopping robot is determined according to the initial posture of the hopping robot.

8A shows a case of leaping to the left in a state of leaning to the left (drawing reference), FIG. 8B shows a case of leaping in a state of not leaning initially, (Drawing reference) in a state of leaning to the right side.

Accordingly, it can be seen that the hopping robot using the moment cancellation and the operation timing synchronization according to the present invention can determine the hopping direction according to the leaping direction of the leaping robot, that is, the leaning direction, when the trigger 15 is operated.

9A to 9C illustrate a state of the jump when the interlocking gear 16 is removed from the hopping robot.

When the interlocking gear 16 is removed from the hopping robot, the operation of the right and left femoral link 12a, the lower link 12b, and the like occurs with a time lag and the cancellation of the moment is not completely achieved.

10A to 10C illustrate a state in which the one of the legs, that is, one of the leg links 12a and the leg link 12b connected to the femoral link 12a, is removed from the hopping robot. have.

When one of the legs (the femoral link and the lower link) is removed from the jumping robot, only one of the legs is operated, causing a moment when leaping, and unintended rotation occurs when leaping.

Therefore, as in the hopping robot using the moment cancellation and the operation timing synchronization according to the present invention, the femoral link 12a, the lower link 12b, and the like are installed symmetrically on both sides of the body 11, By making these interlocked with each other by using the interlocking gear, the hopping robot can jump in an intended direction.

11: Body
2a: Femoral Link
2b:
3: Interlocking link
4: Energy storage unit
5: Trigger
6: Interlocking gear
7: center of rotation
11, 112: Hopping robot

Claims (6)

The body,
A femoral link having one end linked to left and right sides of the body,
A lower link to which the upper end is linked to the other end of each of the femoral links,
An interlocking link formed of two links connected to the body and the femoral link and linked to each other and provided at both ends of the body, the interlocking link constituting the femoral link, the lower link and the quadruple link,
A pair of energy storage units, one end of which is connected to the body and the other end of which is connected to one side of the interlocking link,
An interlocking gear having a rotation axis formed concentrically with a center of rotation of the femoral link and installed to rotate together with the respective femoral links;
And a trigger for connecting the energy storage unit and the body to both ends of the energy storage unit, and when the energy storage unit is leaped, pulls the energy storage unit into the body. The method according to claim 1,
Wherein the energy storage unit is installed to be positioned inside the body rather than a portion where the interlocking link is linked with the body before the jump. 3. The method of claim 2,
When the energy storage portion is pulled by the trigger and the energy storing portion is positioned outside the body where the interlocking link is linked with the body, the energy storing portion pulls the femoral link through the interlocking link and leaps Jumping robot using moment cancellation and operation timing synchronization. The method of claim 3,
And the fulcrum links are synchronized with each other through the interlocking gear when leaping. The method according to claim 1,
Wherein the hop direction is determined by adjusting an angle between the femoral link and the lower link. 6. The method of claim 5,
A hopping robot using the moment cancellation and the operation timing synchronization, characterized in that the angle of the femoral link and the lower link in the direction of the jump is reduced and the angle of the lower femoral link and the lower link is increased.

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