A quadruped walking robot based on three-axis linkage control structure
A walking robot and control structure technology, applied in the direction of manipulators, motor vehicles, manufacturing tools, etc., to achieve good stability, reduce requirements, and avoid overshooting effects
Active Publication Date: 2020-07-24
SHANGHAI MARITIME UNIVERSITY
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Problems solved by technology
[0004] The purpose of the present invention is to provide a quadruped walking robot based on a three-axis linkage control structure to solve the problems of how to improve the control accuracy of the supporting legs, enhance the turning flexibility and the rapidity of obstacle avoidance
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[0016] The quadruped walking robot based on the three-axis linkage control structure proposed by the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Advantages and features of the present invention will be apparent from the following description and claims. It should be noted that the drawings are all in a very simplified form and use imprecise ratios, which are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention.
[0017] The core idea of the present invention is that the quadruped walking robot based on the three-axis linkage control structure provided by the present invention is a three-axis linkage control structure based on the motion principle of the crank-rocker mechanism. The first motor and the second motor arranged on the same side respectively control the bending of the calf and the thigh, so as to realize the back and for...
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The invention provides a quadruped walking robot based on a three-axis linkage control structure. The quadruped walking robot comprises a square frame body, supporting legs and transmission mechanisms, wherein the square frame body comprises a square frame and fixing pieces, and the four fixing pieces are arranged at the four corners of the frame; the supporting legs are composed of thighs and shanks, the thighs and the shanks are connected through rotating pairs, the interior of each thigh is hollow, and one end of each thigh is connected with the corresponding fixing part through a connecting mechanism; the transmission mechanisms are arranged in the fixing pieces, each rotating shaft and a corresponding rotating shaft are concentric shafts which penetrate through the corresponding fixing piece, and each third rotating shaft is perpendicular to the corresponding concentric shafts and penetrates through the corresponding fixing piece. According to the quadruped walking robot based onthe three-axis linkage control structure, when three motors work simultaneously, each supporting leg swings forward and backward and swings laterally, and the flexibility of the supporting legs is effectively enhanced. By reducing the weight of the legs and utilizing traction driving of pull rods, the requirement of the motors for rotational inertia can be reduced, so that the inertia of the leg movement of the robot is small, and the overshoot phenomenon is conveniently avoided.
Description
technical field [0001] The invention relates to the technical field of a control structure of a quadruped walking robot, in particular to a quadruped walking robot based on a three-axis linkage control structure. Background technique [0002] Mobile robots capable of completing exploration tasks in unknown environments are being studied by scholars all over the world, and the main modes of movement are wheeled, crawler and footed. Wheeled robots can complete tasks well on continuous and flat ground, but they cannot work normally on slopes or uneven ground; tracked robots have a certain ability to overcome obstacles, but they need a large turning radius when turning , which makes its steering not flexible enough, especially in narrow terrain, which will become very deadly; from the perspective of bionics development, footed robots have high flexibility and the ability to cross obstacles. The adaptability is strong, which greatly improves its application field. The flexibili...
Claims
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IPC IPC(8): B62D57/032B25J11/00
Inventor 唐刚侯志鹏胡超张豪也胡雄
Owner SHANGHAI MARITIME UNIVERSITY