Modular ten-freedom-degree biped walking robot

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...

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 precision; the joint reducer uses a harmonic reducer. It can achieve a large reduction ratio and a small return error, but the harmonic reducer cannot withstand large torque and rigid impact, and its life is much shorter than that of the planetary gear reducer

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