Double-foot robot lower limb mechanism with multiple freedom degree

A bipedal robot, the technology of degrees of freedom

Inactive Publication Date: 2008-02-13
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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  • Double-foot robot lower limb mechanism with multiple freedom degree
  • Double-foot robot lower limb mechanism with multiple freedom degree
  • Double-foot robot lower limb mechanism with multiple freedom degree

Examples

Experimental program
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Embodiment Construction

[0031] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0032] 1, the present invention includes: waist connecting plate 0, hip joint driven gear 1, bearing end cover 2, worm gear transmission 3, box body 4, DC motor 5, Hooke hinge 6, connecting rod 7, hip joint connection Block 8, long guide rod 9, long lead screw 10, angular contact bearing seat 11, ball nut connection block 12, thigh plate 13, calf knee joint connection block 14, calf plate 15, needle roller bearing seat 16, calf ankle joint connection Block 17, foot driven gear 18, pressure sensor 19, shock absorber 20, driven shaft support 21, hip joint driving gear 22, knee joint connecting rod 23, motor seat 24, short guide rod 25, short lead screw 26 , Thigh knee joint connecting block 27, ankle joint connecting rod 28, sole plate 29, motor shaft support 30 and hip joint plate 42 etc.

[0033] In conjunction with Fig. 2, it is an exploded view of the overall str...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032A63H11/18A61F2/60
CPCB62D57/032
Inventor 王立权俞志伟孟庆鑫焦钰何锋王文明李恒楠
Owner HARBIN ENG UNIV
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