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Electrically-driven small bionic four-leg robot

A four-legged robot, electric drive technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of complex structure of robots, large working noise of robots, slow static gait, etc.

Active Publication Date: 2015-09-02
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The structure of the above-mentioned robots is relatively complicated, and the cost is high, especially the robots using the hydraulic power system have relatively large working noise; and for the typical small quadruped robot-Sony "Aibo" (Aibo) robot dog, because it uses The power structure of the very traditional small motor accelerator and decelerator makes it only able to achieve a slow static gait, and its ability to adapt to sports and terrain is weak

Method used

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Embodiment 1

[0031] Such as figure 1 , figure 2 As shown, the electric-driven small bionic quadruped robot includes a mechanical system I and a power and motion control system II; it is characterized in that: the mechanical system I includes a Body module I-0 and four Leg modules I-1 and I-2 , I-3, I-4; the power and motion control system II includes a motion control module II-1, a first motor drive and control module II-2, a second motor drive and control module II-3, and a first motor Ⅱ-4-1, the second motor Ⅱ-4-2, the third motor Ⅱ-4-3, the fourth motor Ⅱ-4-4, the fifth motor Ⅱ-4-5, the sixth motor Ⅱ-4-6 , Seventh Motor II-4-7, Eighth Motor II-4-8, Ninth Motor II-4-9, Tenth Motor II-4-10, Eleventh Motor II-4-11, Twelfth Motor Motor II-4-12; the Body module I-0 serves as the body of a quadruped robot; the first Leg module I-1, the second Leg module I-2, the third Leg module I-3, and the fourth Leg module The modules I-4 are symmetrically installed on the Body module I-0 respectively;...

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Abstract

The invention relates to an electrically-driven small bionic four-leg robot. The electrically-driven small bionic four-leg robot is a twelve-degree-of-freedom pure electrically-driven small mammalian bionic four-leg robot. The robot is of a four-leg robot mechanism structure designed based on the bionic structure and the motion feature of a four-leg mammal. The electrically-driven small bionic four-leg robot comprises a mechanical system and a power and motion control system. The simplified mechanical structure and a highly-integrated small real-time motion control system are adopted in the electrically-driven small bionic four-leg robot. Each leg of the robot is provided with three low damping moment control joints directly driven by a permanent-magnet synchronous motor (PMSM), each leg is provided with a spring energy storage mechanism, and therefore the four-leg robot has the higher energy using efficiency. Multiple motion gaits such as creeping, walking, trotting and running can be achieved through the electrically-driven small bionic four-leg robot, and the electrically-driven small bionic four-leg robot has the advantages of being simple in mechanical structure, ultra-low in noise, and low in cost, achieving dynamic self-balancing and the like.

Description

technical field [0001] The invention relates to a small quadruped robot. More specifically, the present invention relates to a motor-driven small mammalian bionic quadruped robot capable of crawling, walking, trotting and running. Background technique [0002] Quadruped robots have been the focus of research at home and abroad in recent years because of their superior terrain adaptability. Among them, the most outstanding ones are Boston Dynamics' Big Dog series robots (BigDog) and the Massachusetts Institute of Technology (MIT)'s Cheetah series robots (Cheetah). [0003] Compared with the mainstream quadruped robot technology solutions, the power system mainly adopts pure hydraulic power system (BigDog), pure electric power system (Cheetah) or electro-hydraulic hybrid power system (Spot). BigDog is mainly used for load transportation under complex terrain, and Cheetah is used for efficient and fast running, both of which are medium-sized bionic quadruped robots. The stru...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 贾文川王兴兴蒲华燕李龙
Owner SHANGHAI UNIV
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