The invention discloses a pneumatic artificial muscle driven crawling robot, and relates to the field of pneumatic artificial muscle application. Comprising a body framework and six sets of crawling driving limbs evenly arranged on the outer side of the body framework, the advancing direction is determined by every two adjacent sets of crawling driving limbs, and the crawling robot has six advancing directions; in the moving process of the crawling robot, the two sets of crawling driving limbs in the forward direction are set as driving front limbs, the two sets of crawling driving limbs behind the forward direction are set as driving rear limbs, and the other two sets of crawling driving limbs conduct auxiliary supporting and are not in a working state; each group of crawling driving limbs comprises a body pneumatic part, an upper limb pneumatic part and a lower limb pneumatic part; the crawling robot is subjected to bionic design, six sets of crawling driving limbs are arranged to move in a matched mode, the pneumatic muscles are adopted to drive the upper limb part and the lower limb part, the whole device tends to be light, then the freedom degree and flexibility of the device are improved, the structure is simple and compact, implementation is easy, and the cost is controllable.
本发明公开了一种气动人工肌肉驱动爬行机器人,涉及气动人工肌肉应用领域;包括本体架构和均匀设置在本体架构外侧的六组爬行驱动肢,每相邻两组爬行驱动肢确定前进方向,则该爬行机器人设有六个前进方向;在爬行机器人运动过程中,前进方向的前方两组爬行驱动肢设定为驱动前肢,前进方向后方两组爬行驱动肢设定为驱动后肢,其余两组爬行驱动肢进行辅助支撑,不处于工作状态;每组爬行驱动肢包括本体气动部分、上肢气动部分和下肢气动部分;通过对爬行机器人进行仿生设计,设置六组爬行驱动肢配合进行移动,且采用气动肌肉对上肢部分和下肢部分进行驱动,使整个装置趋于轻质化,进而提高其自由度和灵活度,结构简单紧凑,易于实现,且成本可控。
Pneumatic artificial muscle driven crawling robot
一种气动人工肌肉驱动爬行机器人
2024-06-25
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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