Linkage device suitable for controlling and limiting degree of freedom of humanoid robot joints

Abstract

The invention discloses a linkage device suitable for controlling and limiting the degree of freedom of humanoid robot joints. The linkage device is characterized in that a parallelogram in the two-dimensional space rotates in the three-dimensional space through spherical hinged connection, but the degree of freedom and the rotating amplitude in the three-dimensional space are limited by a self geometric structure, so that the control over the twisting and the degree of freedom of robot or mechanical exoskeleton joints is realized, and stable and reliable connection is realized. For example, when the linkage is used for controlling a hip joint, a robot main body or exoskeleton back frame 100 is connected with a hip connecting block 101, a hip first connecting rod 102 is connected with thehip connecting block 101 and a hip parallelogram structure 103 at the same time, and then the hip parallelogram structure 103 is connected to a hip 104.Through the linkage, the hip joint can rotate ina Y-axis direction, so that the robot or exoskeleton walking movement is realized. Additionally, the rotating angle of the Y axis is limited by the structure. According to the linkage device, the twisting of the robot or exoskeleton joints can be realized, additionally, the rotating degree of freedom of the joints can be limited, the stable and reliable connection is realized, and the effects ofvibration reduction and vibration isolation are achieved.

Description

technical field [0001] The invention relates to the design of a mechanical structure, in particular to a connecting rod device suitable for controlling and limiting the degree of freedom of joints of a humanoid robot. Background technique [0002] In the current power-assisted exoskeleton devices, the focus is on the design of the bearing mechanism and control of the lower limbs, and the design of the mechanical structure and movement flexibility is not perfect, such as the consideration of the hip structure and the torsional freedom of the thigh. When the power-assisted exoskeleton device provides assistance for people to move forward or when the robot walks according to the instructions, the speed and acceleration generated will cause vibration and shock phenomena, which will have an adverse effect on the mechanical device. more and more important. Some of the existing power-assisted exoskeleton devices and robots only consider the power-assisted function and walking func...

AI Technical Summary

Problems solved by technology

Some of the existing power-assisted exoskeleton devices and robots only consider the power-assisted function and walking function, and do not consider vibration reduction and vibration isolation; some design the power-assisted function and walking function, shock absorption and vibration isolation separately, making the device complex and cost high

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