The invention discloses a frog-imitating continuous jumping robot based on a connecting rod mechanism and a control method thereof in the technical field of robots, the frog-imitating continuous jumping robot comprises a trunk part, a front leg part and a rear leg part, a power component is arranged in the trunk part and independently provides power for the front leg part and the rear leg part, the rear leg part adopts a multi-connecting-rod rear leg structure, and the rear leg part adopts a multi-connecting-rod rear leg structure. The multi-connecting-rod rear leg structure comprises thigh rods, shank rods and flipper rods which are composed of connecting rod structures; an energy storage assembly is arranged on the multi-connecting-rod rear leg structure, a transmission part is arranged on the multi-connecting-rod rear leg structure, the energy storage assembly conducts elastic energy storage before the gear transmission part rotates for one cycle and in the winding process of the winding drum, and the energy storage assembly releases potential energy after the gear transmission part rotates for one cycle. Potential energy drives flipper rods to bounce to drive the robot to jump forwards; before the rear leg bounces, the front leg part rotates to the highest posture position beneficial to take-off, and before the rear leg bounces and does not fall to the ground, the front leg part rotates to the lowest posture position beneficial to landing buffering.

    本发明公开了机器人技术领域的基于连杆机构的仿青蛙连续跳跃机器人及其控制方法,包括躯干部、前腿部和后腿部,所述躯干部内设置动力部件,动力部件独立给前腿部和后腿部提供动力,所述后腿部采用多连杆后腿结构,多连杆后腿结构为由连杆结构组成的大腿杆、小腿杆以及脚蹼杆;所述多连杆后腿结构上设置有储能组件,所述多连杆后腿结构上设置传动部件,齿轮传动件在转动完一个周期前,卷筒收卷过程中,储能组件进行弹性蓄能,齿轮传动件在转动完一个周期后,储能组件释放势能,势能驱动脚蹼杆弹跳带动机器人向前跳跃;前腿部在后腿部弹跳前,转动至利于起跳的最高姿态位,前腿部在后腿部弹跳后未落地前,转动至利于落地缓冲的最低姿态位。


    Access

    Download


    Export, share and cite



    Title :

    Frog-imitating continuous jumping robot based on connecting rod mechanism and control method thereof


    Additional title:

    基于连杆机构的仿青蛙连续跳跃机器人及其控制方法


    Contributors:
    CAO JIEJIE (author) / MAN ZENGGUANG (author) / NIE JIAAN (author) / ZHANG ZHEYUAN (author) / HUA YAN (author) / WEI JIAKE (author) / DU YIBO (author)

    Publication date :

    2024-06-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



    Frog-jumping-imitating robot and control method thereof

    ZHANG TAO / WANG SHUQI / DONG JIAWEI et al. | European Patent Office | 2023

    Free access

    Micro-miniature frog-jumping-imitating robot

    ZHU YANHE / WANG TENGLEI / JIANG BORU et al. | European Patent Office | 2024

    Free access

    Frog-imitating water-air cross-domain continuous jumping robot

    ZHANG TAO / CHEN QIANQIAN / DONG JIAWEI et al. | European Patent Office | 2024

    Free access

    Frog jumping imitating power device, control method and robot

    DENG ZEBIN / ZHANG HAOJIE / WANG XIAOMING et al. | European Patent Office | 2023

    Free access

    Frog-imitating flipper structure and frog-imitating robot

    FAN JIZHUANG / PAN YITAO / WANG SHUQI et al. | European Patent Office | 2023

    Free access