Propel mechanism of underactuated biped walk robot

A walking robot and walking mechanism technology, applied in the field of robots and underactuated biped walking robots, can solve the problems of low energy efficiency, complex control methods, complex design of biped robot mechanisms, etc., and achieve the effect of simple mechanism and high energy efficiency

Inactive Publication Date: 2009-05-13
JILIN UNIV
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Problems solved by technology

[0016] The present invention provides a high-energy-efficiency biped walking mechanism and its design method, which mainly solves the problems

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  • Propel mechanism of underactuated biped walk robot
  • Propel mechanism of underactuated biped walk robot
  • Propel mechanism of underactuated biped walk robot

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Embodiment Construction

[0043] The invention realizes the mechanical design and control of the high-energy-efficiency mechanism of the underactuated biped walking robot from the four aspects of system structure design, mechanical design, control system development and walking control algorithm design. The technical solutions, design concepts and system working principles of the present invention will be further described in detail below in conjunction with the embodiments shown in the accompanying drawings.

[0044] The traditional biped robot mainly adopts the bionic design method. Firstly, it simulates each degree of freedom of human motion from the mechanical system structure, which makes the system mechanism and control complex. The present invention takes underactuated bipedal walking as the guiding ideology, and designs the walking mechanism and control system of the bipedal robot, so that the robot can realize a walking gait with high energy efficiency with a simple mechanism. The design point...

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Abstract

A waking mechanism of an under-actuated biped walking robot relates to the field of robots, in particular to the field of under-actuated biped walking robots. The robot comprises seven components: arms, an upper body, hip joints, laps , knee joints, lower legs, and feet; the robot has 10 degrees of freedom in all, wherein, only 3 degrees of freedom are driven, and the knee joints and the ankle joints are not driven; the two arms are respectively linked with the contralateral legs through a mechanical chaining mechanism; the hip-joints adopt an integrative linkage-driving hip-joint mechanism (6) which mainly comprises four components of a hip-joint device mounting plate (13) , an angular bisector link mechanism (15), a drive motor incomplete gear transmission mechanism (11), and a two-way drive mechanism (12); and the two feet of the robot adopt multi-mode elastic feet with double-layered structures. The waking mechanism of the under-actuated biped walking robot has a simple structure, and adopts a design of a flexible driving system with high energy efficient; and the consistent, natural and humanoid walking pace can be produced only by simple control.

Description

technical field [0001] The invention relates to the field of robots, in particular to the field of underactuated biped walking 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 mechanism, it can replace human beings in operations or expand the field of human activities, such as complex work in dangerous environments (nuclear power plants, seabeds, space); [0006]...

Claims

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Application Information

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IPC IPC(8): B62D57/032B25J17/00
Inventor 田彦涛隋振崔相吉张佩杰赵红杰洪伟刘振泽宿建乐肖家栋陈鸿帅
Owner JILIN UNIV
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