Modular foot-type single leg and cycloid planning method based on low reduction ratio motor technology

Abstract

The invention discloses a modular foot-type single leg and cycloid planning method based on a low reduction ratio motor technology. The invention relates to the technical field of driving walking propulsion devices. The method involves a foot-type single leg and a hip joint driving module, the foot-type single leg comprises a knee joint driving motor, a thigh structure module and a shank structuremodule, the knee joint driving motor is installed on one side at the top end of the thigh structure module, and the top end of the shank structure module is rotatably connected to the bottom end of the thigh structure module; in order to obtain an efficient, smooth and real-time adjustable shank foot end motion trail, a cycloid planning algorithm is adopted for the shank foot end motion trail. Amodular design concept is adopted, transmission mechanisms like the hip joint driving module, the knee joint driving motor and a planetary gear reducer are designed in a standardized and modular mode,and disassembly and replacement are easy.

Description

technical field [0001] The invention relates to the technical field of driving and walking propulsion devices, in particular to a modular foot type single leg and a control system based on low reduction ratio motor technology. Background technique [0002] Legged robots are currently a research hotspot in the field of special robots. Legged robots are mainly divided into biped robots, quadruped robots and multi-legged robots. Among them, the Spot Mini series robot dog developed by Boston Dynamics of the United States represents a higher level of quadruped robots. [0003] The leg structure and leg motion control of quadruped robots are one of the core contents of the design and development of quadruped robots. In order to make the moment of inertia of the leg legs smaller and enhance the robustness of leg motion control, most of the current Both the hip joint motor and the knee joint motor of the footed leg are placed on the upper end of the thigh structure. The motor tran...

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Problems solved by technology

[0004] The application number is CN201910172037.5, and the publication date is June 28, 2019. The invention patent application discloses a robot integrated joint unit and a legged robot using it. It mainly uses a motor integrated with a built-in reducer and a knee joint drive. Using the traditional connecting rod transmission structure, the knee joint transmission efficiency of this footed leg scheme is low, the transmission torque is unstable, and it is difficult to accurately control the torque of the motor

Moreover, although the integrated reducer inside the motor can reduce the size of the motor, but for the reducer that needs to be replaced with a different reduction ratio to increase the peak torque of the motor, the replaceability of the motor is poor.

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