Two-leg robot leg mechanism based on driving of artificial muscles

Abstract

The invention discloses a two-leg robot leg mechanism based on driving of artificial muscles. The two-leg robot leg mechanism comprises a single-shaft hip joint, thigh rods, a pneumatic artificial muscle driving mechanism, bionic knee joints, crus rods, ankle joint transmission mechanisms and artificial flexible feet, wherein the single-shaft hip joint is connected with the thigh rods, the thigh rods are connected with the bionic knee joints, the bionic knee joints, the crus rods, the ankle joint transmission mechanisms and the artificial flexible feet are sequentially connected, the pneumatic artificial muscle driving mechanism comprises a transverse rod, the transverse rod is perpendicularly fixed in the thigh rods, two pneumatic artificial muscles are arranged in parallel, one ends of the two pneumatic artificial muscles are fixedly connected with the transverse rod, the other ends of the two pneumatic artificial muscles are connected to each other through a chain, the chain is connected with a driving shaft of the bionic knee joints through a chain wheel, and driving is achieved through opposite pulling of the pair of pneumatic muscles. The two-leg robot leg mechanism has the advantages of being natural in walking gait, high in adaptability to road conditions, small in motion impact, high in walking speed, small in energy consumption, capable of achieving flexible motion of joints, simple in structure and delicate in design.

Description

technical field [0001] The invention relates to the field of bionic robots, in particular to a dual-leg robot leg mechanism driven by artificial muscles. Background technique [0002] The lower limbs of the two-legged robot are connected by a rigid component through a rotating pair, imitating the movement of human legs and hip joints, knee joints and ankle joints, and can replace humans to perform some repetitive labor, or walk in dangerous environments, instead of humans. Work, extend and expand the scope of human activities. [0003] The design of the knee joint is the key to realize the anthropomorphism of the two-legged robot. Drawing lessons from bionics research, simulating the structure of human leg knee joint and muscle drive mode, developing a dual-leg robot leg mechanism based on artificial muscle drive can effectively solve the above-mentioned problems of dual-leg walking robots. Usually, in the research of ordinary two-legged robots, DC servo motors are used as...

AI Technical Summary

Problems solved by technology

In order to maintain the stability of the support phase, the robot keeps its legs bent when standing, and the walking speed is slow, resulting in poor anthropomorphic walking gait of the robot

[0008] 2) Differences in joint drive

[0013] (1) The walking gait is unnatural, which is quite different from the normal human gait, and the ability to adapt to the ground road conditions is not strong;

[0014] (2) Limited by its own mechanical structure, shocks are generated during the movement, and the walking speed is slow;

[0015] (3) Most of the joints adopt the active drive mode of the motor, which consumes a lot of energy and the drive mode is rigid, which is not conducive to the flexible movement of the joints.

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