An underactuated hybrid walking mechanism

Abstract

The invention discloses an underactuated mixed-connected travelling mechanism. The underactuated mixed-connected travelling mechanism comprises four mixed-connected travelling leg mechanisms which are symmetrically installed below a frame, wherein each leg mechanism comprises a driving quadrilateral mechanism, a follow-up quadrilateral mechanism, a triangular frame and a follow-up foot mechanism, each follow-up quadrilateral mechanism and the corresponding triangular frame are positioned on one side of the driving quadrilateral mechanism; each triangular frame is positioned at the upper part of the corresponding follow-up quadrilateral mechanism; each follow-up foot mechanism is positioned at the lower part of the corresponding follow-up quadrilateral mechanism; shared component parts are formed between adjacent mechanisms; two groups of corresponding front leg mechanisms and rear leg mechanisms are respectively installed on two different eccentric wheels; and one node of each triangular frame is connected with a machine body through a rotary pair. Compared with the traditional mechanism, the underactuated mixed-connected travelling mechanism has the advantages that the structure is greatly simplified, the control difficulty is reduced, the response speed is high, and the underactuated mixed-connected travelling mechanism is applicable to rapid travelling and operation under complex terrain structures.

Description

technical field [0001] The invention relates to a walking mechanism of a robot, in particular to an underactuated hybrid walking mechanism. Background technique [0002] At present, ground mobile robots that replace humans to work in complex and dangerous environments have attracted more and more attention. At present, this type of robot is mainly divided into two categories: wheeled (tracked) and legged robots. Legged robots, which can adapt to a wider range of terrain, have attracted more attention in recent years. Quadruped legged robots are more flexible than wheeled or tracked robots, simpler to construct and control than hexapods, and more stable than bipeds in motion. It has broad application prospects in disaster relief, teaching and entertainment. From the perspective of leg mechanism configuration, the series configuration has more room for leg movement and is more flexible as a whole, while the parallel configuration has better stability and load-carrying capaci...

AI Technical Summary

Problems solved by technology

Usually, a single leg of a quadruped robot is designed with 2 to 4 degrees of freedom, and the quadruped mechanism has as many as 8 to 16 degrees of freedom. Although the design of multiple degrees of freedom increases the flexibility of the leg movements, it must realize quadruped walking and The difficulty and complexity of gait control has been greatly improved

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