Two-foot walk triangle robot

Abstract

A biped walking triangular robot comprises connections of the six member bars forming the three edges of the triangular robot, wherein, a moving pair which serves as one side edge of the triangular robot comprises a left foot outer rod (1) and a left foot inner rod (3); a moving pair which serves as the other side edge of the triangular robot comprises a right foot outer rod (2) and a tight foot inner rod (4); and a moving pair which serves as the bottom edge of the triangular robot comprises the rod (1a) of the left foot outer rod (1), cross rod outer rod (5) and cross rod inner rod (6). The triangular robot works as follows: regulating the lengths of the three edges to lift, protract or land the left foot outer rod (1) and the right foot outer rod (2) so as to realize the straight movement; stopping regulating the lengths of the three edges and starting the motor (10) when the vertical hole on the left foot outer rod (1) and the vertical hole on the left foot inner rod (3) are coaxial so as to realize the turning. The triangular robot has the advantages that the closed chain structure is adopted to increase the rigidity of the robot and improve the load capacity; the linear driving is adopted to avoid the amplification effect of the lengths of the member bars to the angle turning driving error; the elements are fewer; and the structure and the control are simple.

Description

technical field [0001] The invention relates to a biped walking robot, in particular to a biped walking triangular robot. Background technique [0002] In the field of biped walking robots, "ASIMO" manufactured by Japan's Honda Company represents the highest technical achievement of biped walking humanoid robots. However, the robot consumes a lot of power and has high requirements on all aspects of control software and hardware. Many world-renowned universities in the United States and Canada have conducted research on the problem of high power consumption of biped walking robots. Tad McGeer of Simon Sophie University in Canada proposed the idea of ​​using the robot's own gravity and inertia as power to achieve passive power walking, and through experiments Prototype Dynamite verified this idea. The Massachusetts Institute of Technology in the United States added power to the local joints of the robot on the basis of McGeerde's passive power walking idea to realize flat gro...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention: the bipedal walking robot generally adopts a humanoid mechanical structure, the robot body has many parts, the structure and control are complicated, and the cost is high. The legs of the robot generally adopt a series structure, and additional Driven by power, when the robot body is heavy or the load is large, the requirements for the rotational power at the joints are relatively high, and the connecting rod has an amplification effect on the angle error of the rotational joints, which is not conducive to the improvement of the robot's control accuracy

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