The invention discloses a bionic jumping leg driven by double-joint pneumatic artificial muscles. The bionic jumping leg is composed of a knee joint module, an ankle joint module, a buffer foot module and a pneumatic artificial muscle driving module. The knee joint module and the ankle joint module are vertically hinged through a connecting support. The ankle joint module and the buffer foot module are connected through a connecting rod. One muscle of the pneumatic artificial muscle module is hinged with the machine body and the knee joint through connecting pieces to form a single-joint muscle; one muscle is hinged to the knee joint and the ankle joint through connecting pieces and is a double-joint muscle; the single-joint muscle is inflated and contracted to drive the knee joint to rotate, and meanwhile, part of mechanical energy is transmitted to the ankle joint through the double-joint muscle; the double-joint muscle is inflated and contracted to further drive the ankle joint to rotate, so that the motion range of the ankle joint is enlarged. The buffer foot module adjusts the angle of a buffer supporting foot through a torsional spring to adapt to different terrains. The bionic jumping leg has the remarkable advantages of being compact in structure, good in terrain adaptability and good in jumping performance.
本发明公开了一种双关节气动人工肌肉驱动的仿生跳跃腿,由膝关节模块、踝关节模块、缓冲足模块和气动人工肌肉驱动模块构成。膝关节模块和踝关节模块通过连接支架上下铰接。踝关节模块和缓冲足模块通过连接杆连接。气动人工肌肉模块的一条肌肉通过连接件分别与机体和膝关节铰接,构成单关节肌肉;一条肌肉通过连接件分别与膝关节和踝关节铰接,为双关节肌肉。单关节肌肉充气收缩带动膝关节转动,同时通过双关节肌肉将部分机械能传递到踝关节;双关节肌肉充气收缩,进一步带动踝关节转动,增大踝关节运动范围。缓冲足模块通过扭簧,调整缓冲支撑脚的角度来适应不同地形。本发明仿生跳跃腿,具有结构紧凑、地形适应性好、跳跃性能好的显著优点。
Bionic jumping leg driven by double-joint pneumatic artificial muscles
一种双关节气动人工肌肉驱动的仿生跳跃腿
2021-11-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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