Propel mechanism of underactuated biped walk robot

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]...

AI Technical Summary

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 of complex biped robot mechanism design, complex control methods, and low energy efficiency from the perspective of mechanism design and control

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