Double-foot robot lower limb mechanism with multiple freedom degree

Abstract

The present invention provides a lower limb structure of multiple degrees of freedom for a biped robot, including a waist, a thigh, a lower leg, a foot. The thigh comprises a right thigh and a left thigh and the lower leg comprises a right lower leg and a left lower leg. The foot comprises a right foot and a left foot. The waist consists of a right hip joint and a left hip joint, which are connected by a waist connection board. The right hip joint and the left hip joint, the right thigh and the left thigh, the right lower leg and the left lower leg and the right foot and the left foot are symmetrical. The hip joint is connected with the thigh by a hook hinge and two connecting rods. The thigh and the lower leg are connected by a knee joint connecting rod and a knee joint shaft. The lower leg has a parallel connection with the foot via the hook hinge and two anklebone connecting rods. With the advantage of multiple degrees of freedom, the present invention can furthest realize the humanoid walking of the biped robot. The present invention has the advantages of simple structure, clear principle, economy, practicality, big carrying capacity, compact structure, low cost, small design difficult and strong feasibility, which meets the requirement of the structural design of biped robot.

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 each joint 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

However, 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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