The invention provides a cat leg imitating landing/walking integrated mechanism, and belongs to the field of lunar surface landing buffering. The mechanism comprises a main body, and four landing legs are arranged on the side face of the main body; each landing leg comprises a hip joint, a bionic four-bar mechanism, a buffer mechanism and a foot end; the four landing legs are connected to the side surfaces of the main body through hip joints; according to the invention, design is carried out based on a feline biological prototype and a buffer mechanism, and a longitudinal symmetrical layout is adopted, so that the robot can adapt to different forms of complex terrains and scene requirements of different tasks; the magneto-rheological damper and the driving motor are adopted as buffering/driving devices, so that the cat-imitating landing/walking integrated mechanism can be repeatedly used, and the damping force in the landing process is controllable; the tendon rope and the magneto-rheological damper are adopted to simulate the muscular tissue of the feline, the biological superiority of the feline is reflected, meanwhile, the buffer is far away from the joint, and the joint load is relieved.
本发明提供了一种仿猫腿着陆/行走一体机构,属于月面着陆缓冲领域,所述的机构包括主体,所述的主体侧面设置四条着陆腿;四条着陆腿包括髋关节、仿生四连杆机构、缓冲机构和足端;四条着陆腿通过髋关节连接在主体侧面;本发明基于猫科生物原型和缓冲机理进行设计,采用纵向对称布局,能够适应不同形态的复杂地形和不同任务的场景需求;采用磁流变阻尼器和驱动电机作为缓冲/驱动装置,使仿猫着陆/行走一体机构可重复使用并且着陆过程阻尼力可控;采用腱绳和磁流变阻尼器模拟猫科动物肌肉组织,体现了猫科动物的生物优越性,同时使缓冲器远离关节处,减轻关节负载。
Landing/walking integrated mechanism simulating cat legs
一种仿猫腿着陆/行走一体机构
2024-10-11
Patent
Electronic Resource
Chinese
Online Contents | 2017
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