Personification biped walking robot

Abstract

The invention discloses a personification biped walking robot. The personification biped walking robot comprises a trunk mechanism and two leg walking device assemblies fixedly connected at the bottom of the trunk mechanism. Each leg walking device assembly comprises a hip-joint driving mechanism, a leg driving device and a foot sole walking device, wherein the hip-joint driving mechanism, the leg driving device and the foot sole walking device are sequentially arranged from top to bottom. According to the personification biped walking robot, the technical defects of a traditional series robot and a traditional parallel robot are overcome, and the technical advantages of the traditional series robot and the traditional parallel robot are achieved at the same time; the personification biped walking robot has the advantages that various motions can be simulated, the simulation performance and the reliability are high, the structural design is reasonable, and the practicability is high.

Description

technical field [0001] The invention relates to the technical field of robot equipment, in particular to a humanoid biped walking robot. Background technique [0002] As we all know, a robot is a machine device that performs work automatically. Its mission is to assist or replace human work in jobs such as manufacturing, construction, or hazardous jobs. With the improvement of people's living standards, our daily life is increasingly relying on robots to help us complete some tasks, such as: robots in processing workshops, robots that perform aerial photography tasks, and anthropomorphic robots that simulate complex movements of the human body; [0003] As one of the high-end products in the field of industrial manufacturing, humanoid robots play a very important role in the process of industrial intelligence. [0004] Anthropomorphic robots have a wide range of applications. They can not only perform human-substituting operations in toxic, dusty and other harsh environmen...

AI Technical Summary

Problems solved by technology

In terms of joint configuration, judging from the relatively mature anthropomorphic robots studied at home and abroad, most of the robot legs adopt a series configuration; for example, the Atlas robot of Boston Dynamics, the Asimo robot of Honda, and the The "Huitong" robot of the University, the "Forerunner" robot of the National University of Defense Technology, etc., but due to the inherent defects of the series mechanism, the above-mentioned anthropomorphic robots still have shortcomings such as low transmission accuracy, low rigidity, and small carrying capacity.

In addition, although there are also parallel configurations, such as the "WL-16" robot of Waseda University in Japan, the flexibility of the robot is limited due to the small working space of the parallel mechanism.

In terms of driving devices, most robots are currently driven by DC motors, and joint rotation is realized by harmonic reducers and synchronous toothed belt drives, such as Asimo robots, and hydraulic drives, such as Atlas robots. However, the above two The driving methods all have problems such as high manufacturing cost, heavy weight, and complicated control

[0006]

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