Anthropomorphic robot in series connection

A humanoid robot and robot technology, applied in the field of robotics, can solve problems such as inconvenient operation, robot damage, and high development costs, and achieve the effects of reducing weight, difficulty, and damage

Inactive Publication Date: 2008-02-06
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problems of high development cost, heavy weight, and inconvenient operation of the existing multi-degree-of-freedom humanoid robots, and to avo

Method used

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  • Anthropomorphic robot in series connection
  • Anthropomorphic robot in series connection
  • Anthropomorphic robot in series connection

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Embodiment Construction

[0017] Fig. 1 is a schematic diagram of the overall structure of the robot of the present invention. The robot as a whole can be divided into four parts, which are the torso, head, arms and legs, and the arms and legs are left-right symmetrical structures. There are 19 degrees of freedom in the whole body of the robot, which are distributed in the following motion joints: 1 degree of freedom of twisting (Yaw) at the neck joint; 1 degree of freedom of forward swing (Pitch) at the shoulder joint, 1 degree of freedom The degrees of freedom are orthogonal to one point; the elbow joint has 1 forward swing degree of freedom; the hip joint has 1 torsion degree of freedom, 1 side swing degree of freedom, and 1 forward swing degree of freedom, and the three degrees of freedom are orthogonal to one point; 1 knee joint Forward swing degree of freedom; the ankle joint has 1 forward swing degree of freedom and 1 side swing degree of freedom, and the two degrees of freedom are orthogonal to...

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Abstract

The invention relates to a series humanoid robot, belonging to the robot field. The invention adopts a digital servo motor as a joint driving device; carbon fiber material is used to design a carbon fiber double-pipe structure and is used on structural parts such as backbone, big arm, small arm, thigh and calf; a similar joint frame type of structure is adopted to design a trunk so as to improve the structural intensity and stability; a pull spring mechanism is used to design a head buffer device so as to enhance the impact resistance of the head; finally a nineteen free DEG C series humanoid robot is realized, which is big in dimension, light in mass, strong in motion flexibility and has a head buffer mechanism. The invention solves the problems of the previous humanoid robot, the motor of which has too much load, is hard to control and is easily burn due to the overweight of the self structure, and provides an effective solution to the protection of the head when the robot falls down or is collided.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a serial humanoid robot. Background technique [0002] With the continuous development of science and technology, humanoid robots have gradually become the focus, difficulty and hot spot in the field of robot research. The types of scientific research carried out on the humanoid robot platform also tend to be diverse, among which the most basic and important ones are motor control and gait planning of robots. In terms of tandem robots, after 21 years of research, the Japanese Honda company has continuously updated and finally launched the robot ASIMO. The whole body of the robot is in the form of a series mechanism, and each leg contains 6 degrees of freedom, which can complete actions such as walking, turning, and going up and down stairs. However, the total weight of ASIMO exceeds 50kg, and the data shows that most humanoid robots with a height of more than one meter have a total weight...

Claims

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Application Information

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IPC IPC(8): B25J11/00A63H3/00
Inventor 赵明国刘宇石宗英
Owner TSINGHUA UNIV
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