Single-leg hopping robot based on parallel mechanism

Abstract

The invention relates to a one-leg hopping robot based on a parallel mechanism, comprising a static platform, a moving platform, a plantar rubber pad and an RSR series branch chain. Each RSR series leg includes a motor holder, motor, elastic coupling, driving lever and driven lever. The motor bracket is fixed on the static platform, A motor is fixed on the motor bracket, The output shaft of the motor transmits motion through an elastic coupling, one end of the elastic coupling and the driving lever are rotatably connected through a first rotating pair, the other end of the driving lever is connected with one end of the driven lever through a ball pair, the other end of the driven lever and the moving platform are rotatably connected through a second rotating pair, and the foot rubber pad is fixed on the bottom of the moving platform through mounting. Based on the three-degree-of-freedom parallel mechanism, the design of the one-leg hopping robot is realized, which simplifies the structure of the hopping robot, reduces the cost of the experiment, and has flexible movement and simple control mode. At the same time, the symmetrical structure design ensures that the robot can stand onthe ground in the static state, which increases the stability.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a single-leg jumping robot based on a parallel mechanism. Background technique [0002] With the rapid development of robot technology, robots have been widely used in various fields, and people have put forward higher requirements for the movement of robots. People hope that robots can have fast, dexterous and efficient movement capabilities. For legged robots, how to realize the rapid movement of the robot in all directions has become a research hotspot in the field of robotics. Most of the traditional legged robots are quadruped and hexapod robots, which are limited by the output power speed of the motor and the weight of the robot body, so the moving speed is relatively slow, and when facing complex terrain, such as the ruins after an earthquake, its maneuverability is greatly limited , The practical value is also greatly discounted. [0003] The single-leg jumping robot is ...

AI Technical Summary

Problems solved by technology

For example, mammals in nature are more flexible in front and rear movement, but cannot move laterally, and must turn to change direction. The single-leg jumping robot with reference to this bionic leg structure also has this defect

[0006] (2) The control system is complicated and the stability is poor

Due to the asymmetry of the structure, it is difficult for the robot itself to maintain balance and control is difficult

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