Variable-rigidity flexible joint design of humanoid robot

A humanoid robot and flexible joint technology, applied in the field of humanoid robots, can solve the problems of high energy consumption and environmental adaptability of robots, and achieve the effects of diversified walking functions, no return error, and small friction.

Inactive Publication Date: 2011-01-05
BEIHANG UNIV
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Problems solved by technology

[0006] The object of the present invention is to address the defects of the above-mentioned prior art and provide a more effective humanoid robot variable stiffness flexible joint system, which can

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  • Variable-rigidity flexible joint design of humanoid robot
  • Variable-rigidity flexible joint design of humanoid robot
  • Variable-rigidity flexible joint design of humanoid robot

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0028] see figure 1 , a variable flexible joint structure of a humanoid robot, mainly including a 2-DOF differential drive ankle joint 12, variable stiffness flexible drives 7, 8, flexible cables 4, 6, 11, 12. The flexible cables 4, 6, 11, 12 pass through the variable stiffness flexible drivers 7, 8 respectively, and one end bypasses the fixed pulley, and is fixed to the flexible cable consolidation blocks 5, 20 of the differential 2-DOF differentially driven ankle joint 12. The specific implementation method is: through the flexible cables 4, 6, 11, 12, the flexible cable input wheel A 2, the flexible cable input wheel B 14 are connected to the output end C 5, the output end D 3, and the input wheel A 2, the input wheel B 14 The two parallel rotations are converted into two orthogonal directio...

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Abstract

The invention discloses a variable-rigidity flexible joint of a humanoid robot, which mainly comprises a variable flexible joint driver and a 2D differential drive joint mechanism, wherein, the variable flexible joint driver mainly comprises a micro-drive unit, a motor support and an elastic unit; and the 2D differential drive joint mainly comprises flexible cable input wheels, an output wheel and a flexible cable. The variable-rigidity flexible joint is characterized in that the variable-rigidity flexible joint driver introduces a special elastic element which can realize variable rigidity to adapt to the need of the joint rigidity in different walking stages and store/release energy and absorb shock; the variable flexible joint driver is connected with the 2-DOF differential drive joint mechanism through the flexible cable and has no redundant drive; and the variable-rigidity flexible joint adopts the 2-DOF differential mechanism and flexible cable transmission, thus having simple structure, small friction, no hysteresis error and reduced joint size of the robot compared with a gear design, and realizing drive torque redistribution according to the angle of energy consumption distribution of human.

Description

1. Technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a design of variable rigidity flexible joints of a humanoid robot. 2. Background technology [0002] It has always been a human dream to develop a biped robot that is similar in appearance to human beings, has high intelligence, can move flexibly like a human, can communicate with people, and can constantly adapt to the environment. Since Mr. Kato of Waseda University in Japan proposed the concept of humanoid robots in the 1970s, researchers have made remarkable achievements in this field after nearly forty years of research and development. [0003] At present, most of the existing humanoid robots use servo motors with high torque and high rigidity as drives. Through precise servo control, the robots can accurately track the predefined joint angle trajectory during walking and achieve stable walking. Although the effectiveness of this method has been verified by many...

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Application Information

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IPC IPC(8): B25J17/00
Inventor 魏慧帅梅王中宇张占芳
Owner BEIHANG UNIV
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