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Planar two-foot robot movement testing platform

A technology of robot motion and test platform, applied in the field of robots, can solve problems such as inability to automatically adjust speed and insufficient constraints, and achieve the effect of reducing shaking and ensuring experimental conditions.

Active Publication Date: 2017-06-13
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Solved the problem that the existing technical constraints are insufficient and the speed cannot be automatically adjusted

Method used

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  • Planar two-foot robot movement testing platform
  • Planar two-foot robot movement testing platform
  • Planar two-foot robot movement testing platform

Examples

Experimental program
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Effect test

Embodiment Construction

[0024] Such as Figure 1-2 As shown, a planar biped robot motion test platform includes a support 1, a walking restraint device 2, a running restraint device 3, and a treadmill 4;

[0025] The support 1 is arranged above the treadmill 4. The support 1 has an upper guide rail 101 and a lower guide rail 102. A laser displacement sensor 103 is installed on the support 1. A safety rope is suspended on the support 1 for suspending the robot at ordinary times.

[0026] The walking restraint device 2 is slidably arranged on the lower guide rail 102, and the running restraint device 3 is arranged between the upper guide rail 101 and the lower guide rail 102;

[0027] Such as image 3 As shown, the walking restraint device 2 includes a first slider 201, a cross bar support 202, a cross bar cover 203, a cross bar 204, a first reflector 205, a balance weight 206, a lock cover 207, a weight Balance plate 208, arc-shaped plate 209, connecting plate 210, connecting cylinder 211, rotating ...

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Abstract

The invention discloses a planar two-foot robot movement testing platform. The platform comprises a treadmill, a support, a walking constraint device and a running constraint device. The support is provided with a laser displacement sensor and used for measuring the positions of the constraint devices and providing reference for controlling the speed of the treadmill. When the walking constraint device is used, a connection cylinder can effectively reduce shake during a two-foot experiment, cooperation of a first slider and a guide rail effectively reduces influences of friction force, and a balancing weight on the rear side can be used for balancing extra action force brought by a front mechanism to a robot. When the planar two-foot robot is used for a running experiment, the robot and a body connection base are fixed, and the robot can rotate relative to a rotary supporting rod. When a limiting clamping plate is used, the freedom degree between the robot and the rotary supporting rod is limited. When a limiting sleeve is used, the freedom degree of a second slider is limited. Therefore, the robot can implement one-dimensional vertical jumping experiments, rotation limited planar experiments and complete two-dimensional planar experiments.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a motion testing platform for a planar biped robot. Background technique [0002] In recent years, robot technology has developed rapidly, and various robots have emerged continuously. There are three main ways for robots to move, one is wheeled or tracked, the other is walking or crawling, and the third is bouncing. For legged robots, how to realize the rapid jumping and running of the robot has become a research hotspot in the field of robotics. In order to study the motion characteristics of two-dimensional walking and running, it is necessary to develop a planar biped robot and develop a motion testing platform for it. Compared with three-dimensional motion robots and single-legged robots, the test platform of planar biped robots has higher requirements, and the robot needs to be well constrained to move in a plane. In this process, it is necessary to provide sufficient and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M99/00
CPCG01M99/005G01M99/008
Inventor 朱秋国留云熊蓉吴俊
Owner ZHEJIANG UNIV
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