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A walking robot and rack technology, applied in the field of robots, can solve the problems of difficult robot control, heavy body weight, restricting the application of hexapod walking robots, etc., and achieve the effect of reducing the number of drivers, simple control, and reducing the weight of the whole machine
Active Publication Date: 2021-01-08
YANSHAN UNIV
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At present, the legs of most hexapod walking robots adopt a mechanism configuration with 3 or more degrees of freedom, and each mechanical leg adopts a one-to-one driving method between a driver and a degree of freedom. The footed walking robot system has at least 18 degrees of freedom, so the number of drivers is at least 18, the control of the robot is difficult, and the weight of the body itself is heavy, which restricts the application of the hexapod walking robot
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[0017] exist figure 1 In the schematic diagram of the hexapod walking robot shown, the first mechanical leg 3 is connected to the front part of the frame 1 through the rotating shaft, the second mechanical leg 3' is connected to the middle part of the frame through the rotating shaft, and the third mechanical leg 3" passes through the The rotating shaft is connected to the rear of the frame. The structures of the three sets of mechanical legs are exactly the same. The rotating shafts connected to the three sets of mechanical legs and the frame are arranged parallel to each other. The electrical unit 2 is fixedly connected to the frame to control each set of The expansion and contraction of the telescopic rod in the mechanical leg;
[0018] Such as figure 2 , image 3 and Figure 4 As shown, one side of the thigh support 6 in the mechanical leg is a column, and the other side is a tripod fixed to the column, and the upper end of the column is connected to the frame through ...
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Abstract
A hexapod walking robot comprises a frame, three sets of mechanical legs with identical structure and an electric unit, wherein, the three sets of mechanical legs are respectively connected with the front, middle and rear parts of the frame through a rotating shaft, and the rotating shafts connected with the three sets of mechanical legs and the frame are mutually arranged in parallel, and the electric unit is fixedly connected with the frame for controlling the expansion and contraction of the telescopic rod in each set of mechanical legs; The mechanical leg includes a thigh support, a firsttelescopic lever, a second telescopic lever, a telescopic lever seat, a thigh link, a left calf link, a left foot end piece, a right calf link, a right foot end piece, a calf drive link, a calf driveswing lever and a third telescopic lever, and a first rotational shaft, a second rotational shaft, a third rotational shaft, a fourth rotational shaft, a fifth rotational shaft, a sixth rotational shaft, a seventh rotational shaft and an eighth rotational shaft. The hexapod walking robot has the advantages of small number of drivers, light dead weight, good decoupling property of leg mechanism, simple control and the like.
Description
technical field [0001] The invention belongs to the technical field of robots, in particular to a hexapod walking robot. Background technique [0002] The research of hexapod walking robot has been one of the hotspots in the field of robotics at home and abroad for a long time. This type of robot has the advantages of strong carrying capacity and good stability in unstructured environments, and can replace humans to perform tasks in dangerous or harsh environments. At present, the legs of most hexapod walking robots adopt a mechanism configuration with 3 or more degrees of freedom, and each mechanical leg adopts a one-to-one driving method between a driver and a degree of freedom. The footed walking robot system has at least 18 degrees of freedom, so the number of drivers is at least 18. The control of the robot is difficult and the weight of the body itself is heavy, which restricts the application of the hexapod walking robot. There are few hexapod walking robots in the ...
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