Quadruped robot based on four-bar mechanism

Abstract

The invention discloses a quadruped robot based on a four-bar mechanism. The quadruped robot comprises a base and legs, wherein every two of the four legs are symmetrically arranged on two sides of the front end and two sides of the rear end of the base; the legs each comprise a pedestal, a four-bar mechanism, a motor B, a cross bar, a coupling, a vertical bar and a scissors fork telescopic frame;the four-bar mechanism is a planar pivot four-bar mechanism and comprises a crank, a rocker bar and connecting rods; the front ends of the crank and the rocker bar are respectively hinged onto the pedestal; the rear end of the crank is hinged with the front end of the hinged connecting rods; the rear end of the rocker bar is hinged with the middle of the connecting rods; the motor B drives the crank to rotate around the hinged joint at the front end of the crank; the scissors fork telescopic frame is provided with multiple hinge joints from the upper end to the lower end; the scissors fork telescopic frame is connected with the coupling at the hinged joint at the uppermost end, and connected with the lower end of the vertical bar by virtue of any hinged joint except the hinged joint at the lowest end. The quadruped robot based on the four-bar mechanism disclosed by the invention has the advantages that the legs of the quadruped robot are driven by the four-bar mechanism, the travelingfunction can be realized by virtue of drive of one motor only, the manufacturing cost is low, and the electric control design difficulty is low.

Description

technical field

[0001] The invention relates to the technical field of legged robots, in particular to a quadruped robot based on a four-bar linkage mechanism. Background technique

[0002] Legged robot is a comprehensive technology integrating many disciplines such as machinery, electronics, computer, sensor, control technology, etc. It reflects a country's intelligence and automation research level, and is also a comprehensive expression of a country's high-tech technology. Legged robots have excellent performance over wheeled, tracked and creeping robots, have a variety of gaits, and have a certain obstacle-breaking function, which greatly improves the application range of robots, especially in complex terrain conditions. Exploration, survey and other fields can be widely used.

[0003] Quadruped robots are particularly common among legged robots. Existing quadruped robots are mostly bionic (dog or horse imitation), whose leg movement decoupling is complex, and one leg r...

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