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

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...

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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 anthropomorphic mechanical legs have six degrees of freedom or less, the movement is not flexible, and there are strange poses, which is not conducive to the stable walking of the robot

Most of the mechanical legs are driven by hydraulic or electric motors. The hydraulic drive torque is large but its own weight is large, and the motor is light in weight but small in driving force.

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