Redundant series-parallel electro-hydraulic hybrid drive anthropomorphic mechanical leg

An electro-hydraulic hybrid, mechanical leg technology, applied in the field of anthropomorphic mechanical legs, can solve the problems of large exercise load, inflexible movement, small driving force, etc., and achieve the effect of reducing joint load, reducing energy consumption, and strong bearing capacity

Pending Publication Date: 2020-01-17
ZHEJIANG UNIV OF TECH
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  • Abstract
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  • Claims
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Problems solved by technology

[0003] At present, most of the anthropomorphic mechanical legs use series or parallel mechanisms. The series mechanism has the disadvantages of large motion load and poor dynamic performance, and the parallel mechanism has the disadvantages of small working space. The hybrid mechanism has the advantages of both series and parallel mechanisms.
Most of the anthropomorph

Method used

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  • Redundant series-parallel electro-hydraulic hybrid drive anthropomorphic mechanical leg
  • Redundant series-parallel electro-hydraulic hybrid drive anthropomorphic mechanical leg
  • Redundant series-parallel electro-hydraulic hybrid drive anthropomorphic mechanical leg

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with accompanying drawing:

[0025] Such as Figure 1~4 As shown, a redundant hybrid electro-hydraulic hybrid drive anthropomorphic mechanical leg, including a hip joint module 1, a knee joint module 2, an ankle joint module 3, a foot 4 and a six-dimensional sensor 5; the hip joint module 1 is fixed on the robot's Physically, the knee joint module 2 is connected under the hip joint, the ankle joint is fixed on the knee joint module 2 , the sole 4 is fixed on the ankle joint, and the six-dimensional force sensor 406 is fixed on the sole 4 .

[0026]The hip joint module 1 includes a hip joint fixed platform 201, a hip joint direction changing branch chain, a first middle block 202, a first main shaft 203, a first thigh rod 211, a harmonic reducer 212, a side connecting plate 215, a first Motor 216, first side shaft 217 and side shaft support 218; two side shaft supports 218 are all fixed on the hip jo...

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Abstract

The invention discloses a redundant series-parallel electro-hydraulic hybrid drive anthropomorphic mechanical leg which comprises a hip joint module, a knee joint module, an ankle joint module, a soleand a six-dimensional sensor. The hip joint module is fixed to the body of the robot, the knee joint module is connected to the lower portion of a hip joint, the ankle joint is fixed to the knee joint module, the sole is fixed to the ankle joint, and the six-dimensional force sensor is fixed to the sole. The anthropomorphic mechanical leg overall mechanism has seven degrees of freedom, three degrees of freedom of hip joints, one degree of freedom of knee joints and three degrees of freedom of ankle joints, and accords with human motion degree of freedom distribution. The series-parallel hybrid mechanism gives full play to the advantages of series connection and parallel connection, has the advantages of being high in bearing capacity, small in motion inertia, good in dynamic characteristic and the like, has the position redundancy freedom degree, and is more flexible in motion compared with a non-redundancy mechanical leg.

Description

technical field [0001] The invention relates to the technical field of anthropomorphic mechanical legs, in particular to a redundant hybrid electro-hydraulic hybrid driving anthropomorphic mechanical legs. Background technique [0002] With the rapid development of science and technology, robot technology is applied to people's life, work, entertainment and other fields. Humanoid robot technology is an important branch of the robot field, and it is one of the hot spots of experts and scholars in the field of robot technology at home and abroad. The mechanical leg mechanism is the key to the bipedal walking of the humanoid robot, and its performance directly affects the overall performance of the humanoid robot. [0003] At present, most anthropomorphic mechanical legs use series or parallel mechanisms. The series mechanism has the disadvantages of large motion load and poor dynamic performance, and the parallel mechanism has the disadvantages of small working space. The hybr...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 李研彪王泽胜陈科秦宋阳郑航孙鹏
Owner ZHEJIANG UNIV OF TECH
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