Multi-stage three-degree-of-freedom test bench for single leg of robot foot

A robotic and layered technology, applied in the field of robotics, can solve problems such as lack of loading capacity and failure to meet single-leg performance tests

Active Publication Date: 2019-01-11
内蒙古第一机械集团股份有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Existing full-body or single-leg performance tests of footed robots generally use test devices similar to treadmills, which can test passive load

Method used

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  • Multi-stage three-degree-of-freedom test bench for single leg of robot foot

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Embodiment Construction

[0017] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0018] refer to figure 1 As shown, the test bench of this embodiment includes: a height-adjustable gantry 1, and the middle of the gantry 1 is arranged in layers from bottom to top. A replaceable simulated ground module 8 is set on the motion support 6; the upper part of the single leg of the legged robot to be tested is fixed on the upper beam of the gantry 1, and the bottom acts on the simulated ground module 8; the X-direction motion support 4 can move in the Y direction The moving support 2 moves in a direction parallel to the crossbeam, and the Z direction moving support 6 can move in a direction perpendicular to the crossbeam on the X direction moving support 4. The direction parallel to the crossbeam and the dir...

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Abstract

The invention discloses a layered three-degree-of-freedom test bench for a single leg of a robot foot, in order to meet the requirements of the single leg performance test of the robot foot. The upperpart of the single leg of the robot foot to be tested is fixed on a height-adjustable gantry and the lower end contacts a ground simulation module. Through a multi-stage loading device, the active loading and passive loading test of three-degree-of-freedom in which the single leg is contacting with different grounds can be realized, so as to test the performance index of the single leg of the robot foot contacting with different grounds. The multi-stage three-degree-of-freedom test bench for the single leg of the robot foot, which is capable of realizing the active and passive loading of thesingle leg of the robot foot in three degrees of freedom and different grounds so as to effectively test various indexes of the performance of the single leg, can be applied to the performance test ofthe single leg of the robot foot.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a layered three-degree-of-freedom test bench for a single leg of a legged robot, which is suitable for performance testing of a single leg of a legged robot. Background technique [0002] Existing full-body or single-leg performance tests of footed robots generally use test devices similar to treadmills, which can test passive loading and speed tests in one direction, or foot contact tests without loading capabilities, which cannot meet the performance required by single legs test. Contents of the invention [0003] (1) Purpose of the invention [0004] The object of the present invention is to provide a layered three-degree-of-freedom test bench for a single leg of a legged robot, through layered arrangement, to realize the main movements of the three directions of X, Y, and Z under the contact between the simulated leg and different grounds. Speed, force and other index tests ...

Claims

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Application Information

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IPC IPC(8): G01M13/00
CPCG01M13/00
Inventor 徐震宇尹宏俊王德海周黎明辛学亭康艳艳
Owner 内蒙古第一机械集团股份有限公司
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