Modular hydraulic-drive four-leg robot with variable leg shape structures

Abstract

The invention discloses a hydraulic-drive four-leg robot. The modular hydraulic-drive four-leg robot has the advantages that the hydraulic-drive four-leg robot is good in dynamic balance and high in topographical adaptability, loading capacity and cost performance, and is in a modular and bionic structural design, four leg shapes can be switched over by means of quickly assembling and disassembling subassemblies, the modular hydraulic-drive four-leg robot is multipurpose, and merits and shortcomings of various leg shapes are verified by experiments at a physical prototype stage; each single leg is provided with two leg sections, has three degrees of freedom and comprises a hip joint and thigh assembly, a knee joint and shank assembly and a side sway assembly; a side sway and connecting block combining form is adopted for each thigh portion according to a bionic principle, so that sufficient rigidity and strength are guaranteed, the hydraulic-drive four-leg robot can bear a load stably while the weight of the robot is reduced to the greatest extent, and sufficient activity space for hydraulic cylinders is guaranteed; shank portions comprise foot-end rubber pads and passive retractable bidirectional spring shock absorption mechanisms, and instant impact force generated when the robot is in contact with the ground can be effectively buffered and absorbed under multiple shock absorption actions; problems of limited service lives of components and vulnerability of electronic elements such as foot-end force sensors due to the fact that impact force disappears and springs are rebounded quickly when an existing robot leaves the ground can be solved by the aid of the bidirectional spring mechanisms.

Description

technical field [0001] The invention relates to a hydraulically driven quadruped robot, which adopts modularization and bionic structure design, belongs to the field of mechanical engineering and robot technology, has good dynamic balance, strong terrain adaptability, good load capacity and high cost performance, and is applicable to complex non- Structured terrain operations and execution of special missions. Background technique [0002] Due to its good adaptability to unstructured environments, footed robots have good application prospects in fields such as field operations, planetary exploration, and military applications. With the successful development of BigDog in the United States, there has been an upsurge in research on footed robots at home and abroad. , relevant domestic units have also carried out relevant research, but most of them are in the initial stage of research, and relevant key technologies still need to be solved urgently. [0003] For quadruped robot...

AI Technical Summary

Problems solved by technology

It is driven by hydraulic pressure and has a large load capacity. This linear actuator cannot simply change the assembly direction and can only be used as a leg type; each leg has three leg joints and four degrees of freedom, with redundant degrees of freedom. It improves the terrain adaptability and obstacle-crossing ability of the robot, but at the same time, more redundant degrees of freedom also greatly increase the difficulty of control and dynamic attitude adjustment; the joints are relatively weak, and are easily damaged when crossing obstacles and bearing large impacts

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