Kneeless underactuated bionic biped walking machine with auxiliary side swing mechanism

Abstract

The invention provides a knee-free under-actuated bionic double-foot walking machine with an auxiliary side swing mechanism. A second rack of a hip assembly of the knee-free under-actuated bionic double-foot walking machine is fixedly connected to the middle of a third rack, symmetrically-distributed first racks and fourth racks are fixedly connected to the two sides of the third rack, and a fifthrack is fixed to the lower ends of the two first racks. Leg assemblies of the knee-free under-actuated bionic double-foot walking machine are distributed in a left-right symmetry mode, and legs makeswing actions in sagittal planes. A right foot assembly and a left foot assembly of the knee-free under-actuated bionic double-foot walking machine are in mirror symmetry structurally. A first ankle joint shaft and a fourth connecting rod are crossed and fixedly connected together, a second ankle joint component and the first ankle joint shaft constitute a rotating pair, and a first ankle joint component and the fourth connecting rod which are used in pair in the front-rear direction constitute a rotating pair, and the two rotating pairs constitute an ankle joint of the walking mechanism. Through control over a first steering engine, a second steering engine and a third steering engine by a controller, the left-right side swing action, step taking action and ground hitting action of the walking machineare achieved, and thus the walking machine stillcannaturally and stably walk without a knee joint.

Description

technical field [0001] The invention belongs to the technical field of mechanical bionics, and in particular relates to a kneeless underactuated bionic biped walking machine with an auxiliary side swing mechanism. Background technique [0002] Since the biped walking machine has human-like walking characteristics, it can work together with humans in human life and work, without the need for large-scale modification of the environment specifically for it. Biped walking machines have potential application prospects in unmanned factories, nuclear power plants, assisted walking, space exploration, rehabilitation medicine, public services and other fields. Therefore, the research work on the biped walking machine has been widely carried out all over the world. [0003] An underactuated biped walking robot is a kind of biped walking robot, which can realize stable walking on the ground with a small amount of drives. Since the kneeless underactuated biped walking machine has the ...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a kneeless underactuated bionic with an auxiliary side swing mechanism in order to solve the common problems of the existing kneeless underactuated biped walking machines, such as complex mechanism structure, poor terrain adaptability, and unnatural walking. Biped walking machine, the biped walking machine introduces an auxiliary side swing mechanism, which can avoid the phenomenon of rubbing the ground without knee joints, and has the characteristics of simple structure, good walking performance, and high naturalness

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