Leg mechanism for serial-parallel hybrid human-simulated soccer robot

A football robot and leg mechanism technology, which is applied in the field of robotics, can solve problems such as insufficient rigidity and excessive inertia of the leg mechanism, and achieve the effects of reducing moment of inertia, lightening load, and enhancing leg stiffness

Active Publication Date: 2016-10-12
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In view of the above problems, the present invention provides a series-parallel mixed humanoid soccer robot leg m

Method used

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  • Leg mechanism for serial-parallel hybrid human-simulated soccer robot
  • Leg mechanism for serial-parallel hybrid human-simulated soccer robot
  • Leg mechanism for serial-parallel hybrid human-simulated soccer robot

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Effect test

Embodiment Construction

[0023] like Figure 1~5 As shown, the humanoid soccer robot leg mechanism of the present invention's series-parallel hybrid includes successively hinged hip joints, thigh links 6, knee joints, calf links 14, ankle joints and foot plates 31,

[0024]The hip joint includes: U-shaped frame 1, rotating flange 2, first hip joint reinforcing plate 3, hip joint pitch driving unit 4, second hip joint reinforcing plate 5, hip joint rolling driving unit 7, flange mounting plate 26. The U-shaped frame 1 is connected to the drive unit that drives the degree of freedom in the yaw direction of the leg mechanism on the fuselage; the output shaft of the hip joint pitch drive unit 4 is hinged to the upper part of the thigh link 6, and the first A hip joint reinforcing plate 3 and the second hip joint reinforcing plate 5 are fixedly connected to the left and right sides of the hip joint pitch drive unit 4, and the base of the rotating flange 2 is fixedly installed on one side of the U-shaped fr...

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Abstract

The invention discloses a leg mechanism for a serial-parallel hybrid human-simulated soccer robot. The leg mechanism comprises a hip joint, two thigh connecting rods, a knee joint, two shank connecting rods, an ankle joint and a sole which are successively hinged, wherein the hip joint is arranged in a traditional serial form but the short span design of a hip joint U-shaped frame can strengthen the rigidity of the hip joint; a four-connecting-rod mechanism is arranged at the knee joint; the four-connecting-rod mechanism of the knee joint can promote the rigidity of the knee joint and can increase the walking stability; an arranging space for the knee joint tension spring is further supplied by the four-connecting-rod mechanism; the ankle joint has a parallel structure; the parallel structure of the ankle joint can realize the simultaneous power output of two driving units of the ankle joint; the rigidity is promoted while the inertia of shank is greatly reduced and the loads of the driving unit of the knee joint and the driving unit of the hip joint are relieved; the target of being light, quick, powerful and stable is achieved; the tension spring on the rear part of the knee joint has the functions of compensating for gravity and storing energy.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a series-parallel mixed humanoid soccer robot leg mechanism. Background technique [0002] In recent years, small football robot small football humanoid robot (kid-size) has attracted more and more attention from all walks of life due to its relatively low development difficulty, relatively low cost, and further enhanced anthropomorphism. In the RoboCup (Robot World Cup Football Championship) held every year, small soccer humanoid robots are attracting more and more attention. [0003] In the actual research of small soccer robots, the configuration and mass distribution of the legs have a great influence on the robot's movement ability. Research on the new series-parallel hybrid legs will help improve the motion performance of existing humanoid robots, including: introducing parallel mechanisms at the multi-degree-of-freedom compound joints to make the movements of the extremiti...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 熊蓉留云朱秋国吴俊
Owner ZHEJIANG UNIV
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