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Bipedal walking robot based on parallel mechanism

A walking robot and parallel technology, applied in the field of robotics, can solve problems such as small working space, complex kinematics solution, coupling position and direction of motion platform, etc.

Pending Publication Date: 2019-08-09
CENT SOUTH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

After long-term use practice, it has been shown that these six-degree-of-freedom parallel mechanisms have the disadvantages of complex kinematics solutions, coupling position and direction of the motion platform, and small working space.

Method used

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  • Bipedal walking robot based on parallel mechanism
  • Bipedal walking robot based on parallel mechanism
  • Bipedal walking robot based on parallel mechanism

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Embodiment Construction

[0028] From figure 1 and figure 2 It can be seen that the bipedal walking robot based on the parallel mechanism of the present invention includes a waist platform 1, a steering mechanism 2, two three-degree-of-freedom leg mechanisms 3 and two sole mechanisms 4, and the steering mechanism 2 is installed on the waist platform. 1, the two leg mechanisms 3 are symmetrically arranged and connected to the lower side of the waist platform 1, and the two sole mechanisms 4 are connected to the bottom of the two leg mechanisms 3 one-to-one.

[0029] From Figure 2 to Figure 4 It can be seen that the steering mechanism 2 of the present invention includes a waist driving motor 21, a transmission mechanism, two electromagnetic clutches 25 and two transmission shafts 26, and the transmission mechanism is a gear transmission mechanism, which includes a driving gear 22, two transmission gears 23 and two driven gears 24, the electromagnetic clutch 25 includes an armature and a moving disc, ...

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Abstract

The invention discloses a bipedal walking robot based on a parallel mechanism. The bipedal walking robot comprises a waist platform and two leg part mechanisms symmetrically arranged and connected tothe lower side of the waist platform. Each leg part mechanism comprises an upper platform, a lower platform and three telescopic cylinders hinged between the upper platform and the lower platform through universal joints, and the bipedal walking robot further comprises a steering mechanism installed on the waist platform and a sole mechanism installed at the bottom of each leg part mechanism. According to the bipedal walking robot based on the parallel mechanism, a single-degree-of-freedom waist part is used for driving a motor to drive two three-degree-of-freedom leg part mechanisms based ona parallel structure, so that under the situation that two legs are only provided with four degrees of freedom in total, the robot can realize the functions of straight running, turning, obstacle-crossing and walking up and down stairs stably; and compared with existing six-degree-of-freedom robots, the design structure of the robot is simpler, a workspace is large, and the payload to deadweight ratio is high.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a biped walking robot based on a parallel mechanism. Background technique [0002] The huge application value and market prospect of service robots have become the consensus of many countries including Europe, America, Japan, South Korea and China, and some countries have formulated special development plans and strategies. Humanoid robots have become the most promising robot partners for human beings in the future because of their three outstanding advantages: being able to adapt to the living environment of human beings, being able to use human tools directly, and possessing affinity due to human characteristics. It is one of the research hotspots in the field of service robots. According to incomplete statistics, since the first real humanoid robot was born in Japan in 1973, more than 100 humanoid robot projects have been carried out around the world. [0003] At present, res...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 王明峰周力波邓华
Owner CENT SOUTH UNIV
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