A Humanoid Robot Waist Joint Based on 3-rrr Spherical Parallel Mechanism

Abstract

The invention relates to a waist joint of a humanoid robot based on a 3-RRR spherical parallel mechanism. The waist joint of the humanoid robot based on the 3-RRR spherical parallel mechanism is formed by symmetrically coupling the odd number of parallel mechanism units with the same structures. Each parallel mechanism unit comprises a fixed platform, a common platform, a tail end platform, and three RRR series connection branch chains which are used for connecting each two platforms, have the same structures and are uniformly distributed along a circumferential direction. Each branch chain comprises a drive rod, a driven rod and a straight bevel gear; a movable platform of a front-stage parallel mechanism unit and a fixed platform of a back-stage parallel mechanism unit in each two adjacent parallel mechanism units share one platform; all components of each front-stage mechanism unit and all components of each back-stage mechanism unit are symmetrical regarding to the common platformat any time; and by additionally arranging a single-degree-of-freedom transmission mechanism, an angular variation of a driven rod of each front-stage mechanism unit is equivalently transformed into an angular variation of a drive rod of each back-stage mechanism unit. The waist joint of the humanoid robot based on the 3-RRR spherical parallel mechanism provided by the invention can realize multiple superposition, work space enlargement and movement flexibility, and is almost completely consistent to movement features of multi-segment linkage of a lumbar vertebra of a human body.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a waist joint of a humanoid robot. Background technique [0002] "Human-machine integration" is the goal of the development of humanoid robots and guides the research direction in this field. Although the shapes and functions of existing humanoid robots are more and more like people, all of them have the obvious defect of rigid movements. The bionic level of the lumbar joints of existing humanoid robots is seriously lagging behind other bionic joints, and the barrel effect is obvious. [0003] In the field of joint bionics, since the human ankle joint, hip joint, elbow joint, wrist joint, and finger joint are all spherical joints, it is easy to achieve the same motion characteristics in terms of mechanism, and the research is relatively mature. However, unlike other human motion joints, the lumbar joint is not a spherical joint around a certain rotation center, but a multi-joint...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the bionic level of the lumbar joint of the existing humanoid robot is seriously low in the known technology, the present invention provides a method that can realize multiple superposition, work space enlargement, flexible movement, and the movement characteristics of the multi-segment linkage with the human lumbar spine are almost completely consistent. Lumbar joint of humanoid robot based on 3-RRR spherical parallel mechanism

Images