Multi-degree-of-freedom light single-leg mechanism

Abstract

The invention discloses a multi-degree-of-freedom light single-leg mechanism. The multi-degree-of-freedom light single-leg mechanism comprises a hip joint module, a knee joint module, an ankle joint module, a shin joint and a foot end; the hip joint module, the knee joint module, the ankle joint module, the shin joint and the foot end are connected in sequence; the whole single-leg design mode disclosed by the invention greatly improves the adaptability of the robot legs to complex terrains, improves the dynamic and static stability of a robot, and also improves the integral bearing capacity and control precision of the robot; the single leg with multiple degrees of freedom has flexible movement and light weight; the installation position of a driving motor is closer to the body, so that the problem of high rotational inertia easily generated by a tail end joint is solved, and the movement of the driving mechanism is facilitated; and the single leg has a large movement working space range in the aspects of mechanism movement and power.

Description

technical field [0001] The invention belongs to the technical field of robot walking mechanisms, in particular to a multi-degree-of-freedom light single-leg mechanism. Background technique [0002] With the improvement of social intelligence, in some occasions, it is necessary to use machines to replace humans to reach some places that humans cannot reach and special occasions that may endanger human life. Such as the surface of the planet, mines where disasters occur, disaster prevention and rescue, and the fight against terrorism. Irregularity and rough terrain are common features of these environments. Thereby the application of wheeled robot and tracked robot is limited. Wheeled mobility has advantages when driving on relatively flat terrain, but when driving on uneven ground, energy consumption will be greatly increased, and on soft ground or severely uneven terrain, the role of the wheels will also be severely lost, moving efficiency is greatly reduced. In order to...

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Problems solved by technology

Such a small movable angle will reduce the movement working space of the single-leg mechanism, which is not conducive to the movement of the robot

In addition, the minimum angle of folding between the adjacent legs cannot be achieved, so that the package must be disassembled during transportation, and must be reinstalled after arriving at the place of use, making transportation inconvenient, and it is easy to damage the circuit inside the robot during disassembly Connections and parts

[0007] In terms of motor design, most of the current hexapod robots use motors supplied by the traditional market. The shape, volume structure and torque of traditional motors cannot meet the needs of robots with large enough output torque, the smallest volume, and the lowest weight. Lightweight, the shape should meet the requirements of the shape of the robot

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