Single-leg impact control experiment platform for robot

A technology for controlling experiments and robots. It is used in impact testing, testing of machine/structural components, measuring devices, etc. It can solve the problems of not being able to directly describe the robot, and that it cannot be tested with a single leg of the robot, and achieve the effect of simple structure and stable operation.

Inactive Publication Date: 2012-12-26
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It cannot directly describe the interaction between the robot and the ground, nor can it be used for robot single-leg testing

Method used

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  • Single-leg impact control experiment platform for robot
  • Single-leg impact control experiment platform for robot
  • Single-leg impact control experiment platform for robot

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] Such as figure 1 As shown, a robot single-leg impact control test platform includes an integrated controller 1, a robot leg lifting device 2, a test bench support 3, a static loading device 5, a six-dimensional force sensor 6, and a five-dimensional force test The platform 8, the test bench support 3 includes a test bench support column 10 and a test bench support base 9. The integrated controller 1 is fixed on the support base 9 of the test bench, and one end of the six-dimensional force sensor 6 is installed on the bottom support plate 21 of the robot leg connection bracket, and the other end is installed on the robot torso 28 . The five-dimensional force measuring platform 8 is fixed on the ground below the six-dimensional force sensor 6 .

[0031] Such as figure 2 As shown, the robot leg lifting device 2 includes a fixed pulley 14, a stee...

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PUM

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Abstract

The invention discloses a single-leg impact control experiment platform for a robot. The single-leg impact control experiment platform comprises an integrated controller, a robot leg lifting device, a test bed bracket, a static loading device, a six-dimensional force sensor and a five-dimensional force measurement platform, wherein the test bed bracket comprises a test bed bracket base and a test bed bracket vertical column; the integrated controller is fixed on the test bed bracket base; the robot leg lifting device is fixed on the test bed bracket; the static loading device is fixed on the robot leg lifting device; the six-dimensional force sensor is arranged between the lifting device and a robot body; and the five-dimensional force measurement platform is fixed on the ground below the six-dimensional force sensor. The single-leg impact control experiment platform can obtain indexes such as a dynamic response characteristic of single-leg popping motion under different constant loads and the structural stability of a single leg under the action of large short-time impact. The platform is simple in structure and runs stably and reliably.

Description

technical field [0001] The invention relates to a testing device for a key unit of a robot, in particular to a single-leg impact control experimental platform for a robot. Background technique [0002] The robot is a series-parallel-multi-branch nonlinear system, its parameters are strongly time-varying, statically unstable during dynamic walking, and there is uncertainty in the acquired terrain information. How to realize the attitude stability of the robot in the above-mentioned situation is the success or failure point of the development of the quadruped bionic robot. Aiming at the instantaneity of robot-ground interaction and the uncertainty characteristics of computer vision information used for interaction research, combined with the adaptability requirements of robots to complex environments, this invention proposes for the first time a footed robot-ground impact description A single-leg impact control development and performance testing platform with quantitativ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M7/08
Inventor 李贻斌王海燕阮久宏荣学文
Owner SHANDONG UNIV
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