Quadruped robot with parallel waist structure

A quadruped robot, parallel technology, applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of inability to achieve fast movement and flexible obstacle surmounting, less freedom of waist, lack of waist structure, etc., to achieve fast and dexterous movement, The effect of overcoming the difficulty of speed increase and strong carrying capacity

Active Publication Date: 2015-09-23
SHANGHAI JIAO TONG UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Currently published legged robots usually lack the waist structure or the waist has very littl

Method used

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  • Quadruped robot with parallel waist structure
  • Quadruped robot with parallel waist structure

Examples

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Embodiment

[0027] This embodiment provides a quadruped robot with a parallel waist structure, including a frame, a parallel waist structure and four parallel mechanical legs. The frame includes a front frame and a rear frame, and the front frame and the rear frame are connected through a parallel waist structure. The four parallel mechanical legs are evenly installed on both sides of the front frame and the rear frame, and each mechanical leg has three degrees of freedom relative to the frame.

[0028] According to a preferred embodiment of the present invention, the parallel waist structure is a parallel mechanism with four degrees of freedom, including an auxiliary branch chain and four identical main branch chains distributed around it. The auxiliary branch chain includes two connecting rods and an output rod. One end of the connecting rod is hinged on the rear frame, and the other end is hinged on the output rod. The output rod is connected to the front frame through an equivalent ...

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Abstract

The invention discloses a quadruped robot with a parallel waist structure. The robot comprises a machine frame, the parallel waist structure and four parallel mechanical legs, wherein the machine frame comprises a front machine frame part and a rear machine frame part which are connected through the parallel waist structure, and the parallel waist structure has four freedom degrees; the four parallel mechanical legs are evenly installed on the two sides of the front machine frame part and the rear machine frame part, each parallel mechanical leg has three freedom degrees relative to the machine frame, and the front machine frame part and the rear machine frame part each have six freedom degrees for three-dimensional parallel motion and three-dimensional rotation under the cooperation of the parallel waist structure and the four parallel mechanical legs; the parallel waist structure comprises an auxiliary branch chain and four main branch chains with the same structure evenly distributed around the auxiliary branch chain. The body posture of the foot movement robot is changeable, movement is quick and flexible, terrain adaptability is high, obstacle crossing ability is high, and the robot is suitable for high-speed work under the complicated non-structural topographic condition.

Description

technical field [0001] The invention relates to the technical field of walking robots, in particular to a fast quadruped robot with a parallel waist structure. Background technique [0002] Legged robots are widely used for tasks in complex ground environments, such as: exploration work after nuclear power plant disasters, rescue tasks after earthquakes or landslides, etc. Unlike wheeled and tracked robots, legged robots can flexibly select independent footholds to complete the motion process. The legged robot isolates the fuselage from the complex environment on the ground through mechanical legs, so that the fuselage can pass through or avoid various obstacles, and complete the set tasks in an environment where other robots are difficult to move. [0003] According to bionic research, during the movement of animals, due to the movement and deformation of the waist, the movement space of the legs can be increased, the power storage capacity can be enhanced to provide insta...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 高峰陈先宝金振林奚达潘阳
Owner SHANGHAI JIAO TONG UNIV
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