Double-foot robot lower limb mechanism with multiple freedom degree

Abstract

The invention provides a lower limb mechanism of a biped robot with multiple degrees of freedom. It includes the waist, thigh, calf and foot, the thigh includes the right thigh and the left thigh, the calf includes the right calf and the left calf, and the foot includes the right foot and the left foot; the waist is composed of two parts, the right hip joint and the left hip joint, connected through the waist Board connection composition; the right hip joint and left hip joint, right thigh and left thigh, right calf and left calf, right foot and left foot are symmetrical structures; the hip joint and thigh are connected in parallel through a Hooke hinge and two connecting rods The thigh and the lower leg are connected through the knee joint connecting rod and the knee joint shaft; the lower leg and the foot are connected in parallel through the Hooke hinge and two ankle joint connecting rods. The invention has the characteristics of many degrees of freedom, and can realize the humanoid gait walking of the biped robot to the greatest extent. The structure is simple, the principle is clear, and the economy is feasible. Large load capacity, compact structure, low cost, low design difficulty, strong feasibility, suitable for biped robot mechanism design requirements.

Description

(1) Technical field [0001] The invention relates to a robot assembly, in particular to a multi-degree-of-freedom biped robot lower limb mechanism. (2) Background technology [0002] In recent years, biped robots have aroused widespread interest of scholars at home and abroad, and have achieved great results, especially in simulating various human actions, cooperating with humans, and language communication. The relatively successful and highly influential humanoid robots at home and abroad include the Asim robot of Japan's Honda, the QRIO robot of Japan's Sony Corporation, and the "Huitong" robot of Beijing Institute of Technology, but the series structure is generally used in these designs Formally design the joints of the biped robot. In the multi-DOF joint design of the series structure, the peak value of the driving torque of each joint is relatively large, which affects the design of the joint driving components of the biped robot, and increases the design difficulty a...

AI Technical Summary

Problems solved by technology

Considering the domestic technical level and economic cost, if a six-dimensional force / torque sensor is used, the cost will be greatly increased. If it is used in a foot mechanism with toe joints, it will be more difficult to realize.

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