Two-leg walking mechanism

A walking mechanism and double-leg technology, which is applied in the field of mobile robots, can solve the problems of increasing design, maintenance and control costs, reducing the flexibility of the mechanism, and increasing the load on the legs of the mechanism, so as to achieve a large bearing capacity, good rigidity and simple mechanism. Effect

Inactive Publication Date: 2011-06-15
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Description
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AI Technical Summary

Problems solved by technology

In the existing technology, in order to realize walking, turning, squatting\standing up, running, jumping and other actions, the humanoid biped walking mechanism needs to increase the corresponding joint degrees of freedom, which means using more driving The motor, o

Method used

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Examples

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Example Embodiment

[0017] Example 1

[0018] A two-leg walking mechanism, which includes platform (1), motor one (2), motor two (3), rotating pair one (4), turntable one (5), turntable two (18), leg one (I) And leg two (II); It is characterized in that leg one (I) and leg two (II) have the same structure, and are in the form of a closed-loop kinematic chain. Leg one (I) consists of motor three (6) and active arm one (7). ), auxiliary arm one (8), hinge one (9), driven arm one (10), auxiliary arm two (11), feet (12), auxiliary arm three (13), driven arm two (14), It consists of two hinges (15), two active arms (16), and four motors (17). Motor one (2) and motor two (3) respectively control the steering movement of leg two (II) and leg one (I) to realize the turning movement of the mechanism; for leg one (I), by controlling motor three (6) , Motor four (17) respectively drive active arm one (7) and active arm two (16) to rotate, thereby realizing the lifting and landing movement of the foot (12), t...

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Abstract

The invention discloses a two-leg walking mechanism and relates to the technical field of robots, medical rehabilitation auxiliary devices and the like. The two-leg walking mechanism comprises a platform and two legs, wherein the two legs comprise identical closed ring-form kinematic chains; each leg has two degrees of freedom; and the motions of lifting and falling of the legs can be realized bycontrolling corresponding driving motors, and the motions of standing, squatting, pitching, walking, running, turning and jumping of the mechanism can be realized by coordinating the motions of the two legs. The two-leg walking mechanism has the benefits that the mechanical not only has good walking and turning abilities, but also has the capability of realizing the motions of running and jumping; furthermore, the mechanism is simple, flexible in the motions and easy to control, and can be applied in walking of mobile robots and related entertainment devices.

Description

【Technical field】 [0001] The invention relates to the technical field of mobile robots, in particular to a dual-leg walking mechanism. 【Background technique】 [0002] In 1959, the world's first industrial robot was born, ushering in a new era of robot development. With the development of science and technology, the research and application of humanoid robots are developing rapidly. The world-renowned robot expert and Professor Kato Ichiro of Waseda University in Japan said: "One of the biggest features that a robot should have is the walking function." Among them, bipedal walking is the most automatic and complex dynamic system in the walking mode. The great inventor Thomas Edison once said this sentence: "God created human beings, and two legs are the most wonderful masterpiece". The bipedal walking system has very rich dynamic characteristics and has very low requirements on the walking environment. It can walk on both flat ground and unstructured complex ground, and ha...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 李彬赵新华
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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