The invention discloses a multi-legged biomimetic robot with a metamorphic mechanism on the waist. The multi-legged biomimetic robot comprises a closed chain and multiple open chains, wherein the closed chain is a metamorphic six-rod mechanism composed of a first rod, a second rod, a third rod, a fourth rod, a fifth rod and a sixth rod; the length of the second rod and the length of the sixth rod are the same, and the length of the third rod and the length of the fifth rod are the same; the second rod is connected with the third rod through a first hook hinge, and the sixth rod is connected with the fifth rod through a second hook hinge; structures of the open chains are the same, and each open chain is a 2R series-connection mechanism and is hinged to one rod in the closed chain through a rotating hinge; and the rods in each open chain are located in the same plane. The metamorphic mechanism is applied to the waist portion of the multi-legged biomimetic robot, and the characteristics of variable structure states and variable freedom degrees of the metamorphic mechanism are utilized for achieving the waist deformation of the multi-legged biomimetic robot, so that waist structures of various kinds of animals can be better simulated; the bionic performance of multiclass animals is achieved, and advantages of the multiclass animals are integrated; and the flexibility of the multi-legged biomimetic robot and adaptive capacity of the multi-legged biomimetic robot to the different terrain environments are improved.
Multi-legged biomimetic robot with metamorphic mechanism on waist
2015-08-26
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Multi-legged crawling robot using contra-parallelogram mechanism at waist
European Patent Office | 2023
|