Horse-imitating gait planar connection rod type quadruped walking robot

A walking robot and planar connecting rod technology, applied in the field of robotics, can solve the problems of complex structure and high cost of robots, and achieve the effects of good dynamic walking ability, low cost and high stability

Active Publication Date: 2017-04-26
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of robot has relatively low requirements on road conditions, and only needs enough discrete footholds to achieve stable walking. However, this type of robot generally involves more complex control s

Method used

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  • Horse-imitating gait planar connection rod type quadruped walking robot
  • Horse-imitating gait planar connection rod type quadruped walking robot
  • Horse-imitating gait planar connection rod type quadruped walking robot

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Experimental program
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Embodiment Construction

[0020] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0021] figure 1 , figure 2 , image 3 , Figure 4 Shown is a planar link-type four-legged walking robot imitating a horse gait. The robot is composed of a frame 1, a turning mechanism 2, a lower body 3 and four legs A-D of the same structure. The turning mechanism 2 and the leg mechanism 4 are arranged at the four corners of the frame 1, which are left-right symmetrical. The turning mechanism 2 is mainly composed of a servo motor 213, a shaft coupling 210 and straight bevel gears 205, 209, which are fixed on the frame 1, and The lower body 3 is connected through flange structures 201 and 202; the leg mechanism 4 is composed of a thigh mechanism and a lower leg mechanism, and adopts a planar six-bar linkage mechanism, wherein the thigh mechanism adopts a crank rocker mechanism 403-406, and the lower leg mechanism adopts double rock...

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Abstract

The invention provides a horse-imitating gait planar connection rod type quadruped walking robot. The robot comprises a rack, turning mechanisms, lower bodies and leg mechanisms. The turning mechanisms and the leg mechanisms are arranged at the four corners of the rack and are in left-right symmetry. The turning mechanism mainly consists of a servo motor, a coupling and straight tooth bevel gears, is fixed to the rack and is connected with the lower body through flange structures. The leg mechanism comprises a thigh mechanism and a shank mechanism, and a planar six connection rod mechanism isadopted. The thigh mechanism adopts a crank and rocker mechanism, and the shank mechanism adopts a double-rocker mechanism. The leg mechanism is provided with a damping device. Through a horse-imitating gait, double-leg linkage on the diagonal is achieved, and all-dimensional stable movement of the robot can be achieved. The horse-imitating gait planar connection rod type quadruped walking robotis simple in structure, easy to control and low in cost and has good dynamic walking ability.

Description

technical field [0001] The invention relates to a plane link type quadruped walking robot imitating horse gait, which belongs to the technical field of robots. Background technique [0002] Robot technology is currently a high-tech recognized by researchers from all over the world. It integrates the latest research results of many disciplines such as mechanical design, computer and information processing technology, automation, sensor application technology and artificial intelligence technology. It can be said that robot technology is well-deserved A synthesis of mechatronics technology. [0003] At present, the mobile robots researched by various countries mainly include wheeled robots, legged robots and crawler robots. No matter what kind of robot is, it can smoothly pass through the ground with relatively small ripples, but when the ground ripples are relatively large, the energy loss of the wheeled robot will be aggravated. Doesn't work well at all on big and soft pav...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 史冬岩查帅张红何东泽喻淑琴
Owner HARBIN ENG UNIV
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