Multi-legged robot based on three-degree-of-freedom mechanical legs

Abstract

The invention relates to a multilegged robot based on three-degree-of-freedom mechanical legs, comprising a machine body, an electric unit and three-degree-of-freedom mechanical legs, wherein the electric unit is fixed on the machine body, and a plurality of three-degree-of-freedom mechanical legs are uniformly distributed on two sides of the machine body; each 3-degree-of-freedom mechanical leg comprises a mechanical leg base, a motor reducer assembly, a rotating shaft, a belt drive assembly, a thigh unit, a T-shaped calf member and a foot end member; the upper part of the mechanical leg baseis fixedly connected with the machine body; two ends of the mechanical leg base are respectively connected with the motor reducer assembly, the belt drive assembly and the rotating shaft; the first end of the thigh unit is connected with the motor reducer assembly and the rotating shaft; the second end of the thigh unit is connected with the horizontal section of the T-shaped calf member; the endportion of the vertical section of the T-shaped calf member is connected with the foot end member, so as to implement one rotation and two movements of the foot end of the mechanical legs under the driving of the motor reducer assembly, the belt transmission assembly and the rotating shaft. The robot of the invention has the advantages of strong obstacle-crossing ability, large bearing capacity,good dynamic characteristics and good assembling technicality.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a multi-legged robot based on three-degree-of-freedom mechanical legs. Background technique [0002] With the continuous development of robot technology, mobile robots have gradually participated in industrial and agricultural production and service industries. As a kind of mobile robot, multi-legged robot has the characteristics of discrete foothold, flexible movement and strong adaptability to the ground compared with wheeled and tracked mobile robots. Ideal mobile delivery platform. According to the number of feet, multi-legged robots are divided into two-legged, four-legged, six-legged, eight-legged and so on. Since the four-legged, six-legged or eight-legged robot can land on three legs during walking, its stability and carrying capacity are better. At present, the mechanical legs of most quadruped, hexapod, and eight-legged robots use parallel or series mechanisms, which ar...

AI Technical Summary

Problems solved by technology

At present, the mechanical legs of most four-legged, six-legged, and eight-legged robots use parallel or series mechanisms, and it is difficult to have both good obstacle-surmounting ability and large carrying capacity.

In addition, some of the actuators of these robots swing along with the mechanical legs, resulting in poor dynamics

These deficiencies make the application range of quadruped, hexapod or eight-legged robots relatively limited, and their working ability is not strong, which greatly limits the engineering application of these multi-legged robots

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