A Collimated-Drive Leg-Foot Hyperdynamic Robot Based on Multi-joint Coupling

Abstract

The embodiment of the invention discloses an expectant-direct-driven leg-foot super-dynamic robot based on multi-joint coupling. A robot supporting leg can comprise a hip joint driving device, a thighmechanism, a knee joint driving device, a shank mechanism, a leg-foot mechanism and a joint coupling assembly. According to the robot supporting leg, on the one hand, the action principle of a bionictransarticular tendon-ligament in biodynamic motion is introduced, function extension is performed, the synergistic effect of joints can be driven, the jumping ability of the robot is improved, meanwhile the balance point which is static and free of motor power input is formed, and the problem of motor heating during long-time stationary state of a direct-driven robot can be solved; and on the other hand, by combining with a second speed-reducing transmission mechanism, a robot which adopts the robot supporting leg can be formed into the expectant-direct-driven leg-foot robot, and the robot super-dynamic movement ability is improved.

Description

technical field [0001] The present application relates to the technical field related to robots, in particular to a multi-joint coupling-based collimation-driven leg-foot hyperdynamic robot. Background technique [0002] The key technology of ultra-dynamic (such as jumping) moving robots is that the drive system can provide a high power density output, and at the same time have high requirements for the response bandwidth of the control system. [0003] At present, in order to increase the output power of robot joints, hydraulic drive and motor drive with large reduction ratio are mostly used. These components increase the output power while increasing the inertia and friction of the robot system. At the same time, the large reduction ratio reduces the response speed of the control system. [0004] Although the hydraulic drive improves the power density of the robot drive, the noise of the hydraulic pump and the oil leakage of the hydraulic cylinder greatly limit the applica...

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Problems solved by technology

[0004] Although the hydraulic drive improves the power density of the robot drive, the noise of the hydraulic pump and the oil leakage of the hydraulic cylinder greatly limit the application range of the hydraulic drive robot.

[0005] Although the motor drive system with a high reduction ratio increases the drive density, it greatly reduces the response speed and joint movement speed of the control system joints, and at the same time increases the inertia, friction and other parameters of the system, reducing the ultra-dynamic motion capability of the robot.

[0006] Existing direct-drive robots also face a serious problem, that is, the drive system heats up when it is stationary for a long time, resulting in a waste of energy

For example, a serious engineering problem faced by motor-driven direct-drive and collimated-drive robots is the heating of the motor, especially when the robot needs to move for a long time or maintain static stability, it will generate a lot of heat, reduce energy utilization, and may Damage to the motor drive system

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