A quadruped robot platform

Abstract

The invention discloses a quadruped robot platform which comprises a body module and a leg module. The quadruped robot platform is characterized in that the leg module is arranged as a planer five-rod mechanism flexible leg and comprises a pitching driving joint module, a connecting rod mechanism module and a toe module, wherein the pitching driving joint module comprises a rigidity-variable driving flexible joint, a driving motor, a harmonic reducer and a synchronous belt; the harmonic reducer and the driving motor thereof are mounted on a same supporting frame; one harmonic reducer is integrated with the rigidity-variable driving flexible joint to be taken as an output; the toe comprises a three-dimensional mechanic sensor, a three-dimensional mechanic sensor bracket and an arch; the connecting rod mechanism has 10 hinge points of (A), (B), (C), (D), (E), (F), (G), (H), (R) and (I); the 10 hinge points are utilized to hinge the connecting rods into a conventional four-connecting-rod mechanism, a four-connecting-rod mechanism with a spring rod and a planer pentagonal five-connecting-rod mechanism.

Description

technical field [0001] The invention relates to the technical field of multi-legged robot platforms, in particular to a quadruped robot platform. The platform is based on flexible legs of a modified planar five-bar mechanism. Background technique [0002] In the research of the existing multi-legged robot platform mechanism, the design of the mechanical structure needs to take into account many aspects. On the one hand, the robot’s load capacity and impact resistance require the robot to have a high-strength support structure and ingenious flexible buffer links; on the other hand, the robot The characteristics of high speed, high maneuverability and high adaptability require the robot to have low motion inertia and high rigid transmission to ensure fast and precise motion response. [0003] At present, the body design of the quadruped robot is relatively simple, mainly a simple truss structure. These simple structures are difficult to arrange in the installation of the fus...

AI Technical Summary

Problems solved by technology

These simple structures are difficult to arrange in the installation of the fuselage accessories, and are relatively messy. The layout of the parts has no sense of hierarchy, which easily leads to problems such as the center of gravity of the fuselage is high, which is not conducive to the stability of the robot during walking.

[0004] The leg structure of most existing quadruped robots is mainly based on the series mechanism. The structure of the series mechanism is simple and the control is convenient. However, when the drive system is installed on the robot leg, the movement inertia of the robot leg will be large; Poor carrying capacity

The parallel mechanism has a strong bearing capacity and fast motion response, and can realize multi-directional movement of the robot's foot, but there are problems such as a small range of motion.

At the same time, at present, the legs of quadruped robots are generally rigid structures or passively flexible structures, which makes it impossible to effectively reduce the impact of the feet during the robot's walking process, which will have a very negative impact on the walking stability of the robot, and excessive Large foot impacts are likely to cause damage to the parts of the quadruped robot, reducing the reliability and durability of the parts. At the same time, this structural form causes serious energy loss during the walking process of the quadruped robot, and the current quadruped robot is generally Targeted design structure, lack of a more general platform, resulting in unnecessary troubles when the parts of the quadruped robot adopt other forms of structure

In addition, the current design of quadruped robots basically does not have a mature platform, modular design products, and there are difficulties in the process of replacing the components of quadruped robots with modules of different forms

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