Modular ten-freedom-degree biped walking robot

A technology of walking robot and degree of freedom, applied in the field of robotics, can solve the problems that the harmonic reducer cannot withstand large torque and rigid impact, it is difficult to achieve high precision, and the processing cycle is long, so as to ensure the accuracy of processing, increase flexibility, Simple effects to build and tear down

Inactive Publication Date: 2014-10-01
WUHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In terms of the structure of the walking mechanism, this series of robots uses cross-axis joints to achieve two degrees of freedom. However, due to the use of mold processing, the processing cycle is long, the cost is high, and it is difficult to achieve high

Method used

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  • Modular ten-freedom-degree biped walking robot
  • Modular ten-freedom-degree biped walking robot
  • Modular ten-freedom-degree biped walking robot

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Embodiment

[0038] 1. At first introduce the overall mechanical structure of the present invention:

[0039] Such as figure 2 Shown, a kind of modular ten-degree-of-freedom biped walking robot involved in the present invention, the configuration of ten degrees of freedom in this robot is in figure 1 It has been shown in detail in , the hip joint and ankle joint of a single leg have two degrees of freedom, and the knee joint has one degree of freedom. The robot adopts a modular structure, including six joint modules and two foot modules. There are two types of eight modules in total. Each module is connected in series and parallel, and the sequence from one end to the other is: cross joint F1—lower leg Connecting rod E1—inline joint D1—thigh link C1—cross joint B1—cross joint B2—thigh link C2—inline joint D2—calf link E2—cross joint F2, two crosses in the middle The cross-shaped joints B1 and B2 are connected and fixed together through the upper body weight, and the cross-shaped joints ...

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Abstract

The invention discloses a modular ten-freedom-degree biped walking robot. The modular ten-freedom-degree biped walking robot is composed of six joint modules, thigh and shrank connecting rods and two feet absorbing impact. The left leg and the right leg are respectively provided with three joints, namely, the hip joint, the knee joint and the ankle joint, wherein each hip joint and each ankle joint respectively have the pitching freedom degree and the swinging freedom degree, and each knee joint only has the pitching freedom degree. The joint modules are of two types. The joint modules having the two freedom degrees are called cross joints. The joint modules having the single freedom degree are called linear joints. The two driving motors of each hip joint are perpendicular to each other in space. The two driving motors of each ankle joint are perpendicular to each other in space. All pitching driving motors are parallel. The modular ten-freedom-degree biped walking robot has multiple walking modes including walking up and down stairs, walking on the rigid ground and walking on the soft ground. The modular ten-freedom-degree biped walking robot has the advantages that active driving is achieved, the structure is simple, control is easy, the cost is low, the environmental adaptability is high, and energy consumption is small and can be widely applied to relief work, carrying, medical science and other aspects.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a biped walking robot with ten degrees of freedom and all active joints constructed by a modular method. Background technique [0002] Robotics is a high-tech that integrates multi-disciplinary fields such as mechanics, mechanics, electronics, biology, control theory, computer, artificial intelligence, ergonomics and system engineering, and is a representative high-tech in the 21st century. Humanoid robots are the most advanced and cutting-edge embodiment of the development of robotics today. They have a human-like appearance and imitate human beings in terms of structure and walking style. The humanoid robot has a complex structure, often consisting of upper body and lower limbs. In addition to the walking function of the legs, it also includes the functions of the hands, waist and head. The number of degrees of freedom is doubled compared with biped walking robots. At the same ti...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 肖晓晖张强王杨游凡
Owner WUHAN UNIV
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