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An endless wheel mechanism for walking simulation and automatic testing of bipedal robots

A biped robot and automatic testing technology, applied in the testing of machines/structural components, motor vehicles, instruments, etc., can solve the problems of single function, few types of endless wheel mechanisms, simple structure, etc., to achieve a good degree of automation and convenient operation Interaction and function expansion, the effect of simple structure

Inactive Publication Date: 2019-02-19
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a boundless wheel mechanism for bipedal robot walking simulation and automatic testing in view of the existing lack of types, simple structure, single function, etc., without relying on internal power source conditions. , by manually or automatically changing the system parameters of the endless wheel to realize the intermittent collision contact between the end of the spoke and the inclined surface, so as to imitate the rhythmic contact characteristics of the plantar of the foot-like stable walking gait, and reveal the mechanism of the high-stability and efficient walking of the foot-like animals, Provide a basis for the design and control of active legged robots, thereby improving the stability and energy efficiency of legged robots

Method used

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  • An endless wheel mechanism for walking simulation and automatic testing of bipedal robots
  • An endless wheel mechanism for walking simulation and automatic testing of bipedal robots
  • An endless wheel mechanism for walking simulation and automatic testing of bipedal robots

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Experimental program
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Embodiment 1

[0023] Such as figure 1 As shown, an infinite wheel mechanism for biped robot walking simulation and automatic testing, including central axis module I, sliding sleeve module II, leg module III, control circuit module IV, central axis connection module V and additional functional modules , characterized in that: the leg module III is installed on the side of the sliding sleeve module II through nuts and bolts, the sliding sleeve module II is installed on the side of the central axis module I along the slide rail, the central axis module subunit I-1 and the central axis The module subunits I-2 are connected through the central axis connection module V, and the control circuit module IV is fixed on the top of the central axis connection module V.

Embodiment 2

[0025] The technical solution of this embodiment is basically the same as that of Embodiment 1, the difference is that:

[0026] Such as figure 1 , figure 2 As shown, the central axis module 1 includes 2 central axis module subunits I-1, I-2, and the specific structures of all central axis module subunits I-1, I-2 are the same, and the central axis module subunit 1 -1 as an example, it includes a central shaft I-1-1, a slide rail I-1-2, a quality block I-1-3 and an end cover I-1-4. The central shaft I-1-1 is connected with the central shaft connection module V, and the slide rail I-1-2 is used for connecting and fixing the sliding sleeve II-1-1 and the central shaft I-1-1, preventing the sliding sleeve II-1 from -1 rotates around the central axis I-1-1; the mass block I-1-3 is installed in the inner cavity of the central axis I-1-1, and the moment of inertia of the system is changed by replacing the mass block; the end cover I-1-4 The end face of the central axis I-1-1 is ...

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Abstract

The invention relates to a brimless wheel mechanism capable of being used for traveling simulation and automatic testing of a biped robot. The brimless wheel mechanism is composed of a center shaft module, a sliding sleeve module, a leg module, a control circuit module, a center shaft connection module and an additional function module, and can move in various modes under cooperation of the modules. As for the spatial bilateral brimless wheel movement mode of the brimless wheel mechanism, through intermittent impact contact between the tail end of a spoke of the brimless wheel mechanism and the topographical slope, sole rhythmic movement of a steady foot walking gait is simulated, and testing is conducted. Compared with traditional brimless wheel mechanisms and application thereof, the brimless wheel mechanism has the advantages that the number of legs can be changed, the wheel tread and the leg length can be adjusted, an elastic damping element is additionally arranged, the plane unilateral brimless wheel system mode and the spatial bilateral brimless wheel system mode can be switched, and accordingly, biped passive movement testing and control research with more forms is achieved.

Description

technical field [0001] The invention relates to an endless wheel mechanism. More specifically, the present invention relates to an infinite wheel mechanism for biped robot walking simulation and automatic testing. The invention belongs to the technical field of passive walking of robots. Background technique [0002] The continuous progress of footed bionic robot technology is rapidly promoting the transformation of robot technology. The stronger driving ability and dynamic control level provide theoretical and engineering technology traction for this, while the traditional passive walking theory improves the internal stability of the motion mechanism. And exercise energy efficiency provides another approach. As a classic basic model of biped passive walking, the infinite wheel mechanism can realize the intermittent collision contact between the end of its own spokes and the slope of the terrain without relying on the internal power source, so as to imitate the rhythmic co...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032G01M99/00
CPCB62D57/032G01M99/008
Inventor 贾文川刘汉迪张泉孙翊蒲华燕马书根
Owner SHANGHAI UNIV