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Leg-foot mechanism with low rotational inertia configuration for four-footed robot

A robot, legs and feet technology, applied in the field of robotics, can solve the problems of poor safety of moment of inertia, unsuitable for the application of quadruped robots, etc., to achieve the effect of reducing moment of inertia, walking smoothly, and adapting to changes in the environment

Inactive Publication Date: 2012-10-10
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Aiming at the problem that the moment of inertia of the current robot leg-foot mechanism is too high and the safety is poor, which is not suitable for the application of quadruped robots, the present invention provides a leg-foot mechanism of a quadruped robot with a low moment of inertia configuration

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  • Leg-foot mechanism with low rotational inertia configuration for four-footed robot
  • Leg-foot mechanism with low rotational inertia configuration for four-footed robot
  • Leg-foot mechanism with low rotational inertia configuration for four-footed robot

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Embodiment Construction

[0030] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0031] The invention discloses a leg-foot mechanism of a quadruped robot configured with low moment of inertia. The leg-foot mechanism includes a hip joint, a thigh, a knee joint, a lower leg and a foot. Wherein, both the hip joint and the knee joint are a pivot structure, that is, they have a fixed part and a pivoting part that pivots relative to the fixed part. The fixed part of the hip joint is fixedly connected to the body of the quadruped robot, and its pivotal part is fixedly connected to the upper part of the thigh; the fixed part of the knee joint is fixedly connected to the lower part of the thigh, and its pivotal part is fixedly connected to the upper part of the calf. Thus, the hip joint and the knee joint cons...

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Abstract

The invention discloses a leg-foot mechanism with low rotational inertia configuration for a robot. The leg-foot mechanism comprises hip joints, thighs, knee joints and shanks and also comprises a hip joint motor fixedly connected with a robot body, the hip joint motor comprises a power output shaft vertical to the axial direction of one of the thighs, and the power output shaft drives a pivotal part of the hip joint by virtue of a hip joint synchronous belt, thus the thighs are driven to rotate relative to the body; besides, the leg-foot mechanism also comprises knee joint motors which are arranged at the upper parts of the thighs, each knee joint motor comprises the power output shaft parallel to the axial direction of one of the thighs, a first belt wheel is connected with the power output shafts of the knee joint motors by virtue of a worm gear, so that the first belt wheel rotates for 90 degrees for conversion, and the first belt wheel drives a second belt wheel to rotate by virtue of a knee joint synchronous belt, thus the shanks are driven to rotate relative to the fixing parts of the knee joints. According to the leg-foot mechanism disclosed by the invention, rotational inertia of the hip joints is reduced, the maximum power utilization of the hip joint motor can be realized, and the robot can walk more smoothly.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a leg-foot mechanism of a quadruped robot, in particular to a leg-foot mechanism of a quadruped robot with low moment of inertia configuration. Background technique [0002] Quadruped robot is an emerging technical field, which is currently in the process of exploration and development. One of the key technologies for the success of quadruped robot design is the robot leg and foot structure. [0003] The existing robot leg-foot mechanism is a device driven by a single motor to move joints, and the leg-foot structure is relatively simple, lacks some corresponding sensing and limit devices, and the moment of inertia is relatively high, which is not conducive to quadruped robot walking. Contents of the invention [0004] (1) Technical problems to be solved [0005] Aiming at the problem that the moment of inertia of the current leg-foot mechanism of the robot is too high and the s...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 王伟刘振宇
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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