Biped walking four-bar mechanism

A four-bar mechanism and connecting rod technology, applied in the field of three-degree-of-freedom bipedal mobile mechanism, can solve problems such as complexity, single walking posture, high requirements for working position and posture, and achieve low operating power consumption, light weight, and control simple effect

Inactive Publication Date: 2011-07-06
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The walking posture of the existing mobile mechanism is relatively simple, the overall flexibility of the mechanism is not high, and the mobile function and the detection function are usually two independent modules, which need to be controlled separately, which is relatively complicated, and has

Method used

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  • Biped walking four-bar mechanism

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Embodiment

[0023] Such as figure 1 As shown, the present invention comprises parallel moving foot 1, moving foot 2, connecting rod 3, connecting rod 4, described moving foot 1, connecting rod 3, moving foot 2 and connecting rod 4 are sequentially connected by universal joint 5, constitute Single-loop closed parallel four-bar mechanism; the moving foot 1 is fixed with a motor 6 parallel to it, the moving foot 2 is fixed with a motor 7 parallel to it, and the connecting rod 3 is provided at the end connected to the moving foot 2. There is a motor 8 perpendicular thereto.

[0024] Such as figure 2 As shown, the mobile foot 1 includes a connection plate 11, a support plate 12, and a connection block 13. The two ends of the connection plate 11 are vertically fixed to the support plate 12 through the connection block 13, and the connection block 13 is parallel to the connection plate 11. The rotating shaft 14 is connected with the universal joint 5, and the universal joint 5 is provided wit...

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PUM

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Abstract

The invention relates to a biped walking four-bar mechanism which comprises two parallel moving feet, two connecting bars, three motors and four universal joints, wherein the two moving feet and the two connecting bars are connected through the four universal joints to form a monocycle closed-type parallel four-bar mechanism; the two moving feet are respectively provided with the motors which areparallel to the moving feet, and when one moving foot steps on the ground, the motor on the moving foot drives the other moving foot to rotate around the moving foot, so that the two moving feet moveup and down alternately to move forward; the motors on the two moving feet work synchronously, and the lifted moving foot can rotate around the rotating axis thereof, so that supporting plates remainin downward positions; and the third motor is perpendicularly arranged at the end of any connecting bar, which is in connection with one moving foot, and the connecting bar is driven by the third motor to rotate by taking the moving foot as an axis, so as to drive the other moving foot to laterally move. Accordingly, the biped walking four-bar mechanism achieves the effect of three-degree-of-freedom motion and the function of adjusting a detection attitude, and solves the problem that the simple four-bar travel mechanism fails to serve the function of non-linear motion.

Description

technical field [0001] The invention relates to a three-degree-of-freedom biped moving mechanism, in particular to a biped walking four-bar mechanism. Background technique [0002] At present, the movement modes of the mobile mechanism that have been designed include wheel type, leg type, crawler type, etc., so as to adapt to the mobile function in various environments. However, these mechanisms are relatively large in size and complex in structure. [0003] The bipedal walking mechanism has the advantages of high degree of automation, rich dynamic systems, and good dynamic characteristics; and the moving mode is similar to human walking, dexterous and light, and has good adaptability to the walking environment. Walk on unstructured complex surfaces. At present, the walking mechanism as a whole is still dominated by series mechanisms. According to the data description of "Application of Parallel Leg Mechanism in Quadruped / Biped Reconfigurable Walking Robots" published in ...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 姚燕安苗志怀郭一竹
Owner BEIJING JIAOTONG UNIV
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