Simple three-DOF (degree of freedom) small-inertia bionic leg driven by hydraulic motors and applied to armed robot

Abstract

The invention belongs to the technical field of armed robots and particularly relates to a simple three-DOF (degree of freedom) small-inertia bionic leg driven by hydraulic motors and applied to armed robot. The bionic leg comprises a hip joint X-direction hydraulic motor, a buttock part, a knee joint hydraulic motor, a hip joint Y-direction hydraulic motor, a thigh, a shank and a knee joint drive rod. The simple three-DOF small-inertia bionic leg has the following benefits: the structure is simple, two of three joints are directly driven by the hydraulic motors, and flexible motion of the leg is realized; the rotation inertia is small, and the three hydraulic motors are concentrated around the buttock part; a joint angle can be measured by a coding disc on each hydraulic motor; the structure of the thigh and the shank is simple, parts can be reduced, and the strength is improved; the joint torque is not changed with change of the joint angle, and output torque is stable; the power density of the hydraulic motors is high; the rotation angle of each joint can be set flexibly.

Description

technical field [0001] The invention belongs to the technical field of armed robots, in particular to a three-degree-of-freedom simple bionic leg with small inertia driven by a hydraulic motor. Background technique [0002] Irregular and uneven complex terrain environments limit the application of wheeled robots and tracked armed robots, because the movement trajectories of wheeled and tracked armed robots are continuous ruts. Rough terrain often contains obstacles such as rocks, mud, sand, and even cliffs and steep slopes, and the continuous paths that can stably support armed robots are very limited. Compared with wheeled or tracked armed robots, footed armed robots only need to touch the ground at discrete points when moving, and they are more adaptable to complex terrain. In addition, the legs of the footed armed robot have multiple degrees of freedom, which greatly enhances the flexibility of movement. It can maintain body balance by adjusting the length of the support...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is: how to provide a footed armed robot walking device with simple structure, small moment of inertia, and stable output torque of joints, so as to overcome the large moment of inertia of bionic legs of existing footed armed robots and low joint output torque. Problems with stability and low power density

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