Four-legged robot based on five-connecting-rod mechanism and gait control method
A quadruped robot and five-link technology, applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of cumbersome connection and complex structure of the transmission mechanism, and achieve the effect of simple structure of the legs and prevention of prolapse
Pending Publication Date: 2019-08-06
NANHUA UNIV
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Problems solved by technology
[0004]
The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a quadruped robot based on a five-bar linkage mechanism and a gait control method, which solves the problems of the existing legged robot with a relatively complex structure and cumbersome transmission mechanisms.
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Embodiment 1
[0027] Such as Figure 1-4 As shown, a quadruped robot based on a five-bar linkage mechanism includes a torso 1, legs, a swing mechanism and a splint mechanism;
[0028] Torso 1 is a rectangular frame.
[0029] Two pairs of four legs are symmetrically installed on both sides of the front end and the rear end of the torso 1; The motor B22 is fixedly installed on the side of the trunk 1 and is at the same level. The connecting rod A21, the connecting rod B22, the connecting rod C23 and the connecting rod D24 are sequentially hinged to form a plane five-bar linkage mechanism. The connecting rod A21 and the drive motor A25 connected to the crankshaft, which swings under the drive of the drive motor A25, and then drives the plane five-bar linkage mechanism to deform, and the connecting rod B22 is connected to the crankshaft of the drive motor B26, which swings under the drive of the drive motor B26, and then drives the plane five Deformation of the linkage mechanism.
[0030] Sw...
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A four-legged robot based on a five-connecting-rod mechanism comprises a body, legs, a swing mechanism and a clamping plate mechanism. The body is a rectangular frame; the four legs are symmetricallymounted on the two sides of the front end and the two sides of the rear end of the body in pairs; the swing mechanism is arranged on the body; and the clamping plate mechanism is fixedly connected toa swing frame and carries out arc-shaped track motion on the vertical plane along with swing of the swing frame. A gait control method is applied to the four-legged robot based on the five-connecting-rod mechanism and comprises a forward gait and an in-situ rotating gait. The method has the advantages that the leg structure is relatively simple, stable and reliable; a connecting rod A and a connecting rod B in the planar five-connecting-rod mechanism are respectively controlled to rotate, so, the deformation of the planar five-connecting-rod mechanism can be realized and the actions of forwardwalking, backward walking, in-situ stepping, translation and the like of a single leg are further realized; and the moving functions of forward walking, backward walking, turning, in-situ turning andthe like of the four-legged robot can be realized through matching and combining of different actions of the four legs.
Description
technical field [0001] The invention relates to the technical field of legged robots, in particular to a quadruped robot based on a five-link mechanism and a gait control method. Background technique [0002] With the continuous development of robot technology, the application fields of legged robots are becoming wider and wider. Legged robots have a unique feature unmatched by wheeled robots in that they utilize isolated ground supports instead of the continuous ground support required by wheeled robots. Legged robots can walk stably on uneven surfaces or avoid obstacles in a non-contact manner. [0003] However, the structure of the existing legged robot is relatively complicated, and the connection of the transmission mechanism is cumbersome. As a result, its manufacturing cost is relatively high, and the electronic control design is relatively difficult. Contents of the invention [0004] The purpose of the present invention is to overcome the deficiencies of the pr...
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CPCB62D57/032
Inventor 杨毅陈超凡陈俊文曾俊豪王柳丰刘胜宁锌檬龙发勇龚孝敏
Owner NANHUA UNIV