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A floor exercise, robotics technology, applied in manipulators, manufacturing tools, etc., can solve problems such as complexity, difficulty in mechanical analysis and motion control, and increased robot weight.
Inactive Publication Date: 2014-03-26
NORTHWEST A & F UNIV
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Problems solved by technology
Due to the complex structure and floor exercises of the robot, its mechanical analysis and motion control are also relatively difficult.
Generally, when making a floor exercise robot, when the degree of freedom is relatively small, it is difficult to realize the reliability of the robot components and the compact and lightweight design at the same time.
Too many accessories will increase the weight of the robot, resulting in a decrease in its balance and stability, which will have a greater impact on the smoothness and stability of the robot's action execution
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[0011] figure 1 The structural diagram of a ten-degree-of-freedom floor exercise robot of the present invention is given from the perspective of a cross-sectional view. The robot drives ten joints through a motor to make the center of gravity of the robot move left and right, thereby realizing the forward movement of the robot. Rolls, back rolls, rollovers, handstands, handstand splits and push-ups. In addition, the operator can also make the robot complete some other floor exercises according to the needs, so as to make the robot's movements more coherent and improve the appreciation. The two elongated ends bent by the head part 1 are threadedly connected with the shoulder motor 3; the outer end of the torque output shaft of the shoulder motor 3 is connected with the shoulder U-shaped part 4, and the direction of the torque output shaft of the shoulder motor 3 is Perpendicular to the forward direction of the robot; the hand motor 5 is threadedly connected to both sides of th...
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Abstract
The invention discloses a 10-DOF floor exercise robot comprising a head part, shoulder U-shaped members, arm racks, a trunk support, waist U-shaped members, sinuous fixing clamps, leg U-shaped members, U-shaped fixing clamps, foot U-shaped members, right-angled fixing members, sole plates, motors, a controller, and a battery. The 10-DOF floor exercise robot can do many humanoid acts, such as forward roll, backward roll, handstand, split, and push-up. Double-shaft motor control is adopted, the acting process has stable power transmission, and control is simple, handy, and well stable. The size and weight of the robot is controlled in the certain range, the parts are fixedly connected, the shape of the robot is fully utilized, and fewer parts for fixation are used.
Description
technical field [0001] The invention relates to a ten-degree-of-freedom robot, in particular to a ten-degree-of-freedom floor exercise robot. Background technique [0002] The mechanical structure and control of humanoid robots are relatively complicated. A humanoid robot that can perform floor exercises such as inversions, rollovers, rollovers, and splits requires at least 10 motors to control 10 joints to ensure the stability and reliability of the robot during its movements. Due to the complex structure and floor exercises of the robot, its mechanical analysis and motion control are also relatively difficult. Generally, when making a floor exercise robot, it is difficult to realize the reliability of the robot components and the compact and lightweight design at the same time when the degree of freedom is relatively small. Too many attachments will increase the weight of the robot, resulting in a decrease in its balance and stability, and have a greater impact on the sm...
Claims
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Application Information
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