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Agile quadruped robot based on coaxial parallel mechanism

A quadruped robot, parallel technology, used in motor vehicles, transportation and packaging, etc., can solve the problems of inflexibility, lightness, limited rotation angle, and many motors, and achieve excellent power performance, high reliability, and leg rotation. big moment effect

Pending Publication Date: 2019-09-10
GUANGDONG INST OF INTELLIGENT MFG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The main disadvantage of this quadruped robot is that there are many motors, high cost, and the rotation angle of each joint of the legs is limited, which is not flexible enough and light.

Method used

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  • Agile quadruped robot based on coaxial parallel mechanism
  • Agile quadruped robot based on coaxial parallel mechanism
  • Agile quadruped robot based on coaxial parallel mechanism

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Experimental program
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Embodiment

[0022] Such as figure 1 As shown, an agile quadruped robot based on a coaxial parallel mechanism includes a torso 1, four parallel legs 2, a dual-motor coaxial asynchronous transmission module 3 for driving the parallel legs 2 in the torso 1, and a control With communication module and power module. The control and communication module is mainly used to control the operation of the dual-motor coaxial asynchronous transmission module 3 and to control the gait of the whole legged robot, and the power module is used to supply power to the whole robot.

[0023] The torso 1 includes the torso side plates 11 arranged on both sides of the torso 1, the torso fixed bent plates 12 arranged at both ends of the torso 1 in the front and rear directions, and the torso fixed bottom plate arranged at the bottom of the torso 1, the torso side plates 11, the torso fixed bent plates 12 and The edges of the fixed base plate of the torso are connected and fixedly combined to form an integral tors...

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Abstract

The invention discloses an agile quadruped robot based on a coaxial parallel mechanism. The agile quadruped robot comprises a body, four parallel legs, double-motor coaxial asynchronous transmission modules arranged in the body and used for driving the parallel legs to move, a control and communication module and a power module. The parallel legs are installed on the two sides of the body and comprise thighs and shanks. Each thigh comprises two thigh rods of the same structure. Each shank comprises two shank rods of the same structure. Every two thigh rods and the corresponding two shank rodsare sequentially hinged to form a four-rod parallel link mechanism. Every two thigh rods are controlled by two motors on the corresponding double-motor coaxial asynchronous transmission module. A novel parallel leg structure is adopted, the cost of a leg robot is effectively reduced, meanwhile, the overall weight of the leg robot can be reduced, and the movement performance is better; and each parallel leg adopts a coaxial asynchronous torque transmission mode of the two corresponding motors, the leg transmission principle of the quadruped robot is innovated, a whole leg transmission mechanismis more compact, and movement is quicker.

Description

technical field [0001] The invention relates to quadruped robot technology, in particular to an agile quadruped robot based on a coaxial parallel mechanism. Background technique [0002] Quadruped robots are currently a research hotspot in the field of robotics. Compared with traditional wheeled robots, quadruped robots can move across unstructured environments more agilely and quickly. By innovating the transmission system of the quadruped robot, reducing the weight of the quadruped robot and improving the control performance of the quadruped robot, the quadruped robot can have better flexibility, stability, and environmental adaptability. [0003] The invention patent with the application number CN201711260907.1 uses four outriggers, three motors for each outrigger, and three degrees of freedom. The knee joint reduces the moment of inertia of the legs through the transmission mode of the conveyor belt. The main disadvantages of this quadruped robot are that there are many...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 文享龙周雪峰李帅徐智浩苏泽荣蔡奕松
Owner GUANGDONG INST OF INTELLIGENT MFG
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