Biped robot lower limb structure based on modular joints

Abstract

The invention relates to a biped robot lower limb structure based on modular joints. The biped robot lower limb structure comprises hip joint mechanisms, thigh pieces, knee joint mechanisms and shankmechanisms, the lower ends of the hip joint mechanisms are rotationally connected with the thigh pieces, and the hip joint mechanisms are used for driving the knee joint mechanisms and the shank mechanisms to swing front and back, swing left and right and rotate inside and outside; the knee joint mechanisms are fixedly arranged on the thigh pieces and used for driving the shank mechanisms to swingfront and back; and the shank mechanisms are movably arranged at the lower ends of the thigh pieces and driven by the knee joint mechanisms to rotate forwards and backwards. The gravity center of thelegs of the biped robot can be adjusted upwards, so that the inertia of the legs of the biped robot is smaller during swinging, and the biped robot can walk more stably and quickly.

Description

technical field [0001] The invention relates to the technical field of biped robots, in particular to a lower limb structure of a biped robot based on modular joints. Background technique [0002] Bipedal robot is a multi-disciplinary integration and interdisciplinary comprehensive discipline, involving bionics, mechanics, control theory and control engineering, sensor information fusion, computer science and other disciplines, involving mechanics, stability theory, control theory and many other issues. [0003] Because the biped robot is designed to imitate the human feet, the whole leg is divided into the sole, the calf and the thigh. ; Generally, in order to drive the sole of the foot to lift, an ankle drive motor will be set at the ankle, and the purpose of driving the sole of the foot to lift is achieved by the drive of the ankle drive motor, and in order to drive the calf to swing backward, it will also be set at the knee joint A knee joint drive motor makes the knee...

AI Technical Summary

Problems solved by technology

[0004] The above-mentioned existing technical solutions have the following defects: the ankle motor is arranged at the ankle, and the knee joint motor is arranged at the knee joint, so that the center of gravity of the whole leg is low, and when the feet swing, the inertia will be relatively large, which is not conducive to Stable walking of biped robots, so it needs to be improved

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