Leg linkage mechanism of quadruped robot

Abstract

The invention relates to a leg linkage mechanism of a quadruped robot. The leg linkage mechanism is characterized in that a thigh assembly, a shank assembly and a hip driver are included, the thigh assembly, the shank assembly and the hip driver are connected respectively through connecting rods to from the leg linkage mechanism of the robot, and the connecting rods comprise a thigh swing connecting rod, a shank swing connecting rod and a hip swing connecting rod; the thigh assembly comprises thighs and a thigh driving oil cylinder 3, one end of the thigh swing connecting rod is in pin joint with the thigh driving oil cylinder, the other end of the thigh swing connecting rod is respectively in pin joint with the shank swing connecting rod and the hip swing connecting rod, the other end of the shank swing connecting rod is connected with the shank assembly, and the other end of the hip swing connecting rod is connected with the hip driver. The leg linkage mechanism has the advantages that under the condition that only two leg drivers are arranged, leg motions of tetrapods in the natural world can be simulated, in the lying-down and standing-up process, thigh drivers in the thighs can synchronously extend or contract, feet are driven to move up and down, and the motion interference phenomenon does not exist between the legs.

Description

technical field [0001] The invention belongs to a bionic robot mechanism, in particular to a quadruped robot leg linkage mechanism for simulating the leg action of a quadruped animal in nature. Background technique [0002] At present, in the research field of the leg motion mechanism of walking robots, the main direction is to simulate the evolutionary structure of the legs of quadrupeds (horses, dogs, etc.) in nature with mechanical devices, and design the motion relationship of the legs. However, according to anatomical conclusions, the quadruped leg muscles have a complex structure and a large number after long-term evolution. To achieve a comprehensive simulation, many complex mechanisms need to be designed. However, due to limitations in weight, quantity, space, function, etc., these mechanical devices cannot be practically realized. The usual structure is to directly install a hydraulic cylinder between the thigh and the shank. When completing the lying down and sta...

AI Technical Summary

Problems solved by technology

When finishing lying down and standing up, in addition to the required up and down movement, the feet also move back and forth, which causes the four legs to interfere with each other, making it impossible to lie down and stand up smoothly

Images