Multi-DOF trunk mechanism for biped robots
A bipedal robot, a degree of freedom technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of complex structure, large mass, unfavorable robot motion performance, etc., to achieve high flexibility, meet performance requirements, and realize human-machine cooperation. and the effect of multi-level collaborative work
Active Publication Date: 2019-03-15
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology
For example, some research institutions use hip joints to realize the pitching and rolling motions of biped robots, but the structure of this mechanism is complex and the mass is too large, which is not conducive to improving the motion performance of the robot
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[0041] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0042] see figure 1 , figure 2 , image 3 and Figure 4 , the multi-degree-of-freedom torso mechanism suitable for biped robots provided by the present invention, the motion of the upper half of the multi-degree-of-freedom torso mechanism in the pitch direction, roll direction and vertical direction is controlled by two hydraulic cylinders at the back and front The movement of a hydraulic c...
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The invention belongs to the relative technical field of machine body structure, and discloses a multi-DOF trunk mechanism for biped robots. The trunk mechanism includes an upper part, a pelvis, hip component and two hip pitch directional drive assemblies. The pelvis and the hip component are connected with the upper part. The two hip pitch directional drive assemblies are connected with the pelvis and the hip component. The upper part and the hip pitch directional drive assemblies are driven by an oil cylinder. The pelvis and the hip component are driven by a motor. The upper part achieves bending forward and backward, rolling left and right and the movement in vertical direction through three oil cylinders. The pelvis, the hip component are matched with the hip pitch directional drive assemblies to achieve the movement of the pelvis and the hip component of the robots in yaw direction, roll direction and pitch direction. The multi-DOF trunk mechanism for the biped robots improves therate of space utilization, and is simple in structure and good in sports performance.
Description
technical field [0001] The invention belongs to the technical field related to robot body structure, and more specifically relates to a multi-degree-of-freedom torso mechanism suitable for biped robots. Background technique [0002] As a highly comprehensive complex system, biped robot involves many disciplines such as mechanism, bionics, artificial intelligence and geometric methods. In recent years, domestic and foreign research scholars and scientific research institutions have conducted a lot of research on biped robots. However, in the current design of the torso structure of biped robots, most of them only design the three degrees of freedom at the hip joint, which increases the difficulty of the robot's control in the process of stable walking and reduces the robot's activity space. , and the current biped robot is either a pure hydraulic drive robot or a pure motor drive robot, which does not make full use of the driving advantages of these two drive methods in each...
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CPCB62D57/032
Inventor 高亮胡成颢王美思宋志涛卢盛雨钟浩然董昊臻李培根
Owner HUAZHONG UNIV OF SCI & TECH