Walking mechanism of cam driving control type quadruped robot

Abstract

The invention discloses a walking mechanism of a cam driving control type quadruped robot, which comprises a front leg component and a rear leg component with the same structure, a front leg fixing support frame and a rear leg fixing support frame which are respectively positioned above the front leg component and the rear leg component and are used for fixing and supporting the front leg component and the rear leg component, a front leg three-cam driving control component and a rear leg three-cam driving control component respectively positioned above the front leg fixing support frame and rear leg fixing support frame and matched with the front leg component and the rear leg component, a front and rear leg universal connection component positioned between the front leg fixing support frame and the rear leg fixing support frame and used for connecting the front leg component and the rear leg component, and a DC servo drive motor fixedly arranged above the rear leg fixing support frame and matched with the front and rear leg universal connection component, wherein the front leg fixing support frame and the rear leg fixing support frame are symmetrically arranged at both ends of the front and rear leg universal connection component. The walking mechanism of the cam driving control type quadruped robot has the advantages of simple structure, high control precision, low cost and light weight.

Description

technical field [0001] The invention relates to the walking technology of a quadruped robot, in particular to a walking mechanism of a cam-driven control type quadruped robot. Background technique [0002] At present, in the overall structure of the quadruped robot, the walking mechanism is one of the key mechanisms of the quadruped robot. Regarding the walking mechanism, the most researched at present is: at the joints of the leg components, the way of driving and controlling the servo motor is used to control the walking parameters, so as to realize the walking function of the quadruped robot. [0003] In the walking mechanism of the quadruped robot, the above-mentioned servo motor drive control method has the advantages of simple mechanical structure and high control accuracy; however, when this servo click drive control method is used, multiple servo motors are required to cooperate. , which not only increases the weight and manufacturing cost of the quadruped robot, bu...

AI Technical Summary

Problems solved by technology

[0003] In the walking mechanism of the quadruped robot, the above-mentioned servo motor drive control method has the advantages of simple mechanical structure and high control accuracy; however, when this servo click drive control method is used, multiple servo motors are required to cooperate. , which not only increases the weight and manufacturing cost of the quadruped robot, but also increases the difficulty of control

[0004] In the process of realizing the present invention, the inventors found that the above-mentioned technology at least has defects such as complex structure, low control precision, high cost and heavy weight.

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