Parallel four-degree-of-freedom leg mechanism of walking robot

Abstract

The invention discloses a parallel four-degree-of-freedom leg mechanism of a walking robot. The leg mechanism comprises a frame, a thigh rod, a shank rod, a thigh rotating mechanism and a shank rotating mechanism, wherein the frame is connected with the walking robot; the thigh rod and the shank rod are sequentially arranged under the frame from top to bottom; one end of the thigh rod is hinged to the frame; one end of the shank rod is hinged to the other end of the thigh rod; one end of the thigh rotating mechanism is mounted on the frame in a sliding manner; the other end of the thigh rotating mechanism is hinged to the middle of the thigh rod; one end of the shank rotating mechanism is mounted on the frame in a sliding manner; the other end of the shank rotating mechanism is hinged to the end part, close to the thigh rod, of the shank rod. The leg mechanism disclosed by the invention has good dynamic performance, and solves the problems that an existing serial joint is poor in stiffness, high in energy consumption, and poor in dynamic performance; besides, the problem that the torque of rotary direct driving force is not enough at present is solved.

Description

technical field [0001] The invention relates to the technical field of walking robots, in particular to a parallel four-degree-of-freedom leg mechanism of a walking robot. Background technique [0002] At present, robots at home and abroad can be divided into series robots and parallel robots. According to the motion mechanism, they can be divided into wheel type, leg type and crawler type, each with its own advantages and disadvantages. Among them, the legged robot, that is, the walking robot, has attracted extensive attention for its superior mobility and adaptability in complex environments. The structure and performance of the leg of the walking robot directly affect the performance of the whole machine. [0003] At present, the hip joints of walking robots at home and abroad are mostly in series form, and the lower-level drive is installed on the upper-level drive actuator, which increases the drive load, poor stiffness, high energy consumption and poor dynamic performa...

AI Technical Summary

Problems solved by technology

[0004] Based on the technical problems existing in the background technology, the present invention proposes a parallel four-degree-of-freedom leg mechanism of a walking robot, which has better dynamic performance and solves the problems of poor stiffness, large energy consumption and poor dynamic performance of the existing serial joints At the same time, it also solves the problem of insufficient torque of the current rotary direct drive force

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