An anthropomorphic hip joint mechanism

Abstract

An anthropomorphic hip joint mechanism, comprising a first driving motor and a second driving motor, a base, a first active rod, a second active rod, a first connecting rod, a second connecting rod and a moving platform, the first driving motor and the second driving The two driving motors are installed on the base, the rotating shaft of the first driving motor is fixedly connected with one end of the first active rod, and the other end of the first active rod is connected with one end of the first connecting rod through the rotating pair hinge, and the first connecting rod The other end of the second driving rod is connected to a connecting surface of the moving platform through the rotating joint hinge; the rotating shaft of the second drive motor is fixedly connected to one end of the second active rod, and the other end of the second active rod is connected to the second connecting rod through the rotating joint hinge. One end is connected, and the other end of the thinking connecting rod is fixedly connected with the other connecting surface of the moving platform. The two connecting surfaces on the moving platform are perpendicular to each other, and the first driving motor and the second driving motor are respectively arranged on two surfaces perpendicular to each other in space. superior. The invention has the advantages of simple structure, strong bearing capacity and good processing and assembly technology.

Description

technical field [0001] The invention relates to the field of humanoid robots, in particular to a two-degree-of-freedom rotating humanoid hip joint mechanism. Background technique [0002] Anthropomorphic robot is an advanced development stage of advanced robot technology. It integrates theories and technologies of many disciplines such as machinery, electronics, materials, computers, sensors, and control. It is one of the most active fields of scientific and technological development at present. Many countries have invested a lot of manpower and material resources to conduct in-depth research on it. Among them, the hip joint of anthropomorphic robot is one of the difficulties in the design of anthropomorphic robot. Early anthropomorphic robot hip joints usually adopt a series structure, which has disadvantages such as complex structure and large inertia. In order to overcome these shortcomings, many researchers have turned their attention to the two-degree-of-freedom rotat...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the deficiencies of the existing two-degree-of-freedom rotating parallel mechanism with complex structure, small bearing capacity, and poor processing and assembly technology, the present invention provides a humanoid hip joint mechanism with simple structure, strong bearing capacity, and good processing and assembly technology

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