Six-direction loading rotary experiment table for testing foot type robot

Abstract

The invention discloses a six-direction loading rotary experiment table for testing a foot type robot. The six-direction loading rotary experiment table comprises a longitudinal support, a rotary cantilever mechanism, a road surface base, a force sensing ring, a transverse column supporting mechanism and an STEWART platform. The rotary cantilever mechanism can perform rotary motion around the longitudinal support, the transverse column supporting mechanism is fixedly connected to the rotary cantilever mechanism and plays a supporting role in the rotary cantilever mechanism, the transverse column supporting mechanism is adjusted to adapt to foot type robots with different specifications, the STEWART platform is fixedly connected to the tail end of the rotary cantilever mechanism, required road conditions are arranged on the road surface base, and the foot type robot to be tested is installed on the STEWART platform. By the adoption of the ring structure, the movement distance is infinite, the leg and foot fatigue characteristics of the foot type robot are tested, and the experimental process and equipment of the leg and foot fatigue characteristics can be greatly simplified.

Description

technical field [0001] The invention relates to a six-direction loading rotating test bench for testing a legged robot. Background technique [0002] Legged robot is a mobile robot with legs and feet. At present, most of the legged robots come from bionics, that is, biped, quadruped, hexapod and other animal body structure characteristics in nature. Hexapod isopod robot. Footed robots have excellent adaptability to unstructured environments because of their point-to-plane interaction characteristics between legs and feet, and have been fully applied in military, civilian and other field work environments. [0003] The motion of the legged robot comes from the legs and feet, and the performance of the legs and feet directly affects the motion performance of the whole machine of the legged robot. Therefore, the motion performance test of the legs and feet is of great significance for the development of legs and feet with better performance. At present, there are mainly the f...

AI Technical Summary

Problems solved by technology

[0004] The structure of the above test bench is simple, the number of degrees of freedom is small, and there are too many constraints on the leg and foot movement of the legged robot, which seriously does not conform to the leg and foot motion characteristics of the legged robot in the real environment, and the legs and feet of the real legged robot are in a certain range. It is difficult to apply active load to the above-mentioned test bench if it moves under load

The fatigue characteristics of the legs and feet of the legged robot cannot be tested above, because the limited size of the structure cannot achieve infinite distance movement

Since the test bench is arranged indoors, and the indoor road surface is extremely limited, it is difficult to test the adaptability of legged robot legs to various road surfaces.

Images