Humanoid robot trunk structure

A humanoid robot and torso technology, applied in manipulators, joints, manufacturing tools, etc., can solve problems such as complex structures of highly redundant joints, and achieve the effects of no complex components, simple structure, and diverse motion postures

Inactive Publication Date: 2017-02-01
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in terms of torso research, although the human spine has many advantages such as strong load capacity, high flexibility, and large work space, due to the complex structure of highly redundant joints, there has been no relevant literature report on effective bionic design for it.

Method used

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  • Humanoid robot trunk structure
  • Humanoid robot trunk structure

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Experimental program
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Embodiment Construction

[0023] Such as figure 1 and figure 2 As shown, the torso structure of the humanoid robot in this embodiment has six subunits and a waist unit, and the six subunits are respectively the first subunit 9, the second subunit 10, the third subunit 11, and the fourth subunit 12. The fifth subunit 13 and the sixth subunit 14 as the final stage, the waist unit 15 is a waist rotation unit. In order to make the movement characteristics of the whole torso structure stable, each sub-unit is set as a cylindrical shell with a height of 111mm and a diameter of 100mm. The top and bottom surfaces of the cylindrical shell are set as symmetrical slopes. The inclined plane refers to the symmetrical plane with the horizontal plane as the center of symmetry, and the inclined plane is 8.5° from the horizontal plane. This structural form makes the cylindrical shell in the symmetrical two sides, one side is the short side, and the other side is the long side. side.

[0024] Motors, encoders and dr...

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PUM

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Abstract

The invention discloses a humanoid robot trunk structure. The humanoid robot trunk structure is characterized in that the trunk structure is formed by connecting subunits in series; each subunit is provided with a cylindrical shell, the top face and the bottom face of each cylindrical shell are symmetrical slopes, and as for the two symmetrical side edges of each cylindrical shell, one side edge is short while the other side edge is long; a motor, an encoder and a driver are arranged in the cylindrical shell of each subunit; as for series connection of the subunits, the bottom face of each upper unit and the top face of the corresponding lower unit are connected through the upper surface and the lower surface of a speed reducer; and motors arranged in the lower units can drive the cylindrical shells of the upper units to rotate through the speed reducers so that the short edges of the subunits can be located on the same side and a trunk can be bent, or the short edges of every two adjacent subunits can be located on different sides and the trunk can be upright. The humanoid robot trunk structure is simple in structure, easy to control and good in bearing capacity, and can achieve three kinds of typical postures including leftward and rightward lateral swinging, forward and backward pitching and waist rotation like the trunk of a human being.

Description

technical field [0001] The invention relates to a torso structure of a humanoid robot, more specifically, a mechanism designed for the humanoid robot to realize three typical postures of a human torso: left and right side swing, front and rear pitch, and waist rotation. Background technique [0002] A humanoid robot consists of a head, limbs and torso. The upper limbs can grasp and operate, the lower limbs can walk, and the torso has the functions of supporting the body and coordinating the limbs, which is very important for the robot to achieve good mechanical and motion performance. . Taking humans as the source of inspiration for bionic design, researchers around the world have carried out a lot of research on the bionic design of robot limbs. However, in terms of torso research, although the human spine has many advantages such as strong load capacity, high flexibility, and large work space, due to the complex structure of highly redundant joints, there has been no rele...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J17/02
CPCB25J11/00B25J17/0258
Inventor 李涛张晴晴贺军姚鹏徐林森赵江海
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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