Biped walking movement mechanism

A mobile mechanism and frame technology, applied in the field of three-degree-of-freedom bipedal walking mobile mechanism, can solve problems such as the need to load motors and the inability of the four-bar mobile mechanism to realize the line-changing motion function

Inactive Publication Date: 2013-04-03
BEIJING JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a multi-loop closed-chain parallel bipedal walking mechanism, which solves the line-changing motion function that cannot be realized by a simple four

Method used

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Embodiment Construction

[0020] specific implementation plan

[0021] The present invention will be further described in conjunction with accompanying drawings.

[0022] A biped walking mechanism, such as figure 1 Including: a static platform (C), a dynamic platform (F), two connecting rods (B), (D), two push rods (A), (E), two motors (34, 61), eight Universal joints (G, H, I, J, K, L, M, N).

[0023] The static platform (C) and the dynamic platform (F) are arranged in parallel, and the connecting rods (B, D) and push rods (A, E) are parallel to each other. A motor (34) parallel to it is arranged inside the moving platform, and the motor (61) is vertically arranged on the shaft sleeve pin at the end of any connecting rod or push rod. The moving platform and the static platform are connected with connecting rods and push rods through universal joints, wherein the positions of the connecting rods and push rods are parallel to each other.

[0024] The static platform (C) is symmetrically arranged on ...

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PUM

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Abstract

The invention relates to a biped walking movement mechanism which comprises a static platform (C), a movable platform (F), two connecting rods (B and D), two push rods (A and E) and eight cardan joints (G, H, I, J, K, L, M and N), wherein the movable platform and the static platform are connected with the connecting rods and the push rods through the cardan joints, and the connecting rods are mutually parallel to the push rods. Under the driving of a motor (34), the mechanism can realize that two movement platforms alternately move ahead up and down. Under the driving of a motor (61), the mechanism can realize transverse movement. When the two push rods extend or shorten at the same time, the movement platform in the air can rotate around a self rotary shaft. The mechanism can realize three degrees of freedom of movement and a function of detecting posture adjustment, solves the problem that a simple four-rod movement mechanism cannot realize a function of direction-changed movement, also avoids the condition that the motors are loaded into the two movement platforms at the same time, and therefore achieves the effect of saving space.

Description

technical field [0001] The invention relates to a three-degree-of-freedom bipedal walking mechanism, which can realize posture adjustment and field detection functions. Background technique [0002] Existing mobile mechanisms include wheel type, leg type, crawler type, etc. These mechanisms are relatively mature and have been widely used in real life, and the characteristics of these mechanisms are well known. For example, although wheeled robots ensure the smoothness of movement, their obstacle surmounting performance is relatively poor. Tracked robots not only ensure the smoothness of movement, but also take into account the ability to overcome obstacles, but their structural space is large, and they are currently highly sought after. The legged robot has a simple structure and a small structure space, but its control difficulty is increased compared with other mechanisms. [0003] The biped walking mechanism has a high degree of automation, flexible movement, a certain a...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 姚燕安苗志怀荀致远
Owner BEIJING JIAOTONG UNIV
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