Leg mechanism for four-legged robots

A quadruped robot and leg mechanism technology, applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of less physical production and greater influence on the research of quadruped robots, so as to improve motion performance, reduce control difficulty, and improve movement performance. The effect of flexible joints
CN102390457BInactive Publication Date: 2013-06-05SHANGHAI UNIV
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Patents(China)
Current Assignee / Owner
SHANGHAI UNIV
Publication Date
2013-06-05
Estimated Expiration
Not applicable ยท inactive patent

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Abstract

The invention relates to a leg mechanism for four-legged robots, the leg mechanism comprises a drive motor, a femur mechanism, a knee-joint hinge, a tibia mechanism, a naked joint hinge and a metatarsus mechanism, wherein the femur mechanism is hinged with the tibia mechanism by the knee-joint hinge; the drive motor is fixed on the femur mechanism, and an output shaft of the drive motor drives the tibia mechanism to rotate by a bevel gear transmission mechanism in the knee-joint hinge; the tibia mechanism is hinged with the metatarsus mechanism by the naked joint hinge; and the drive motor drives the metatarsus mechanism to rotate by the bevel gear transmission mechanism in the knee-joint hinge and a bevel gear transmission mechanism in the naked joint hinge. In the invention, the number of joints of a leg structure is increased under the condition of not increasing the degree of freedom, so that the leg movement of the robot is more flexible, and the leg mechanism has the advantage of better movement performance.
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Description

technical field

[0001] The invention relates to a leg mechanism of a quadruped robot, which can well simulate the movement of animal joints without increasing the degree of freedom, and carry out bionic design for quadruped animals (horses and dogs). This design has a compact structure, The kinematic joints are flexible, which greatly improves the kinematic performance of the quadruped robot. Background technique

[0002] Compared with other robots, quadruped robots have their own advantages: compared with wheeled or tracked robots, legged robots are more adaptable to more complex environments, such as forests, grasslands, wetlands, forests, etc.; Compared with hexapod robots, quadruped robots are more stable and easier to adapt to uneven ground; compared with hexapod robots, they are simpler in structure, more flexible in movement, easier in control, and lower in manufacturing cost. Generally speaking, the quadruped robot has great advantages and is one of the models most ...

Claims

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