Series-parallel-connection robot leg configuration, walking robot and movement method thereof

Abstract

The invention discloses a series-parallel-connection robot leg configuration, a walking robot and a movement method thereof, and belongs to the field of robots. The series-parallel-connection robot leg configuration comprises a base and two series-parallel-connection driving mechanisms; each series-parallel-connection driving mechanism comprises a first connecting rod, a second connecting rod anda third connecting rod, a foot end connecting rod and a fourth connecting rod, wherein the first connecting rod, the second connecting rod, the third connecting rod, the foot end connecting rod and the fourth connecting rod are sequentially connected in series through rotating pairs, and the axes of the rotating pairs between the connecting rods are parallel to each other and are perpendicular tothe axis of the first rotating pair; the second connecting rod, the third connecting rod, the foot end connecting rod and the fourth connecting rod each are correspondingly composed of two parallel branch connecting rods; and the first rotating pair, the second rotating pair and the third rotating pair each are correspondingly provided with a first rotating driver, a second rotating driver and a third rotating driver. According to the series-parallel-connection robot leg configuration, the walking robot and the movement method thereof, the movement space is large, the rotational inertia is small, the leg mechanisms are flexibly moved, interference is avoided, the basic functions of straight moving, turning, obstacle avoidance and the like of the robot are realized, and the series-parallel-connection robot leg configuration, the walking robot and the movement method thereof are suitable for underwater work.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a leg configuration of a series-parallel hybrid robot, a walking robot and a movement method thereof. Background technique [0002] In today's rapid development, the ocean is a blue land, and exploring the ocean has become an important task at present. Therefore, various underwater robots have emerged as the times require, mainly unmanned remote control vehicles (ROV) and untethered underwater vehicles (AUV). Master, but these two kinds of underwater robots can only be used in a weak current environment, and they need to be supported by cables and mother ships. Controlling both robots becomes difficult when subject to strong currents. [0003] Mobile robots include wheeled robots, tracked robots, legged robots, and composite robots. Wheeled robots are suitable for performing tasks on flat terrain and can move at high speeds, but they are not stable and slippery, and are not suit...

AI Technical Summary

Problems solved by technology

The tandem robot has a simple structure and is easy to control, but its stiffness is small

Parallel robots have high rigidity, high load-to-weight ratio, and high-speed movement, but the structure is complex and easy to interfere

The series-parallel hybrid robot has the advantages of large working space of the serial robot and the high carrying capacity of the parallel robot, but the existing serial-parallel hybrid robots have small working space, large moment of inertia, and interference in the arrangement position of the drive, etc. problem, not suitable for underwater use

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