Under-actuated bipod walking robot hip-joint mechanism

A walking robot and hip joint technology, applied in the fields of mechanics, cybernetics, electronics, computer numerical control, and mechanics, can solve problems such as no separation, and achieve the effect of simple mechanism and high energy efficiency

Inactive Publication Date: 2009-05-06
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0013] In summary, the existing biped robot hip joint mechanism design does not separate the support of the upper body of the robot from the hip joint drive, and there is no high-efficiency and flexible hip joint for front-drive biped walking robots. Mechanism design method

Method used

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  • Under-actuated bipod walking robot hip-joint mechanism
  • Under-actuated bipod walking robot hip-joint mechanism
  • Under-actuated bipod walking robot hip-joint mechanism

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Embodiment Construction

[0031] The hip joint integrated linkage drive mechanism of the present invention can support the upper body and provide the degree of freedom to connect the legs while exerting a relative driving moment between the legs, and can realize the control of the upper body motion during the robot walking motion. In the design of footed robots, the hip joint mechanism is complex, the energy efficiency of the drive system is low, and the control is complex. From the mechanism, the high energy efficiency and dynamic and stable walking of the underactuated biped walking robot are guaranteed. The technical scheme and working principle of the present invention will be further described in detail below in conjunction with the embodiments shown in the accompanying drawings.

[0032] An underactuated bipedal walking robot with integrated linkage-driven hip joint, mainly composed of an angle bisector linkage mechanism, a hip joint component mounting plate, a bidirectional transmission system an...

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Abstract

The invention relates to a hip joint mechanism of an underactuated biped walking robot, which can conveniently realize the smooth switch of an on-line driving state and an off-line no-driving state and is beneficial to the high-efficiency walking control of the underactuated biped walking robot. The technical proposal is as follows: an angular bisector mechanism (1) which consists of two sets of positive and reversed gear-chain groups and a free transmission shaft (9) leads the rotational motions of the two legs around the hip joints to be linked with the motion of the upper body, and limits the upper body at the angular bisector of the two legs; a hip joint device mounting plate (2) is fixed with the upper body of the robot; a bidirectional drive system (3) consists of two sets of driving motors which finally convert the output moment of a motor into the relative moment between the two legs, a transmission shaft and a steel rope; and an incomplete gear transmission system (4) comprises a driving motor (13) as well as a reducer and an incomplete driver gear (12) which are arranged on the output shaft of the driving motor.

Description

technical field [0001] The invention relates to the technical fields of mechanics, mechanics, electronics, cybernetics, computer numerical control, etc., and is used for the design of high-efficiency hip joint connection, transmission mechanism, flexible drive mechanism and control system in underactuated biped robots. Background technique [0002] Biped robots have important research significance in terms of social value and economic practicality, mainly including the following aspects: [0003] 1) The shape and function of biped robots are suitable for cooperating with humans in the living and working environments of humans; [0004] 2) The biped walking robot is relatively small in size, has a more flexible motion direction and a larger speed range, and can have better adaptability in non-structurally complex environments and strong obstacle avoidance capabilities; [0005] 3) Combining rich sensing systems and control systems to enhance the movement function of the mech...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B62D57/032
Inventor 田彦涛隋振崔相吉张佩杰赵红杰卢辉遒刘振泽黄笑亮肖家栋宿建乐
Owner JILIN UNIV
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