Eight-degree-of-freedom disc type brushless motor driven quadruped robot

Abstract

The invention belongs to the field of robots, and relates to an eight-degree-of-freedom motor-driven quadruped bionic robot which comprises a robot body, a laser radar assembly, a leg structure and anelectric control system. Ideal motion forms of the four legs are realized by controlling a group of driving motors of each leg. The eight-degree-of-freedom motor-driven quadruped bionic robot has theadvantages that: a disc-type brushless counter-shaft placement motor driving mode is adopted, so that the driving mass ratio is large; the legs are of connecting rod structures, under the control oftwo coaxial driving sources, the transmission performance is good, and the effective area of the foot end is large; the left leg part and the right leg part are splayed, so that the stability in the running and jumping movement process is improved; and a coupling closing mechanism is used for increasing the rigidity of the legs between two driving motors of the connecting rod structure legs. According to the quadruped bionic robot, modular assembly design is adopted, disassembly and assembly are convenient, the structure is compact, the robot body frame is stable and light, design is reasonable, the entrance threshold of quadruped robot research can be lowered, and the investigation and movement capacity of the quadruped robot is improved.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a quadruped robot driven by an eight-degree-of-freedom disc-type brushless motor. Background technique [0002] The research on quadruped bionic robots continues to deepen in the scientific community; with the rapid development of my country's economy, robots have very broad application prospects in military affairs, planetary surface detection, and nuclear industry. In addition to man-made flat ground and natural plains, the land surface of the earth is more of a variety of rugged terrain, including mountains, hills, cliffs, etc. It is difficult for traditional wheeled and tracked vehicles to walk in such complex terrain. But mammals can walk freely on it, which fully demonstrates the flexibility and strong adaptability of the way of moving legs and feet. Therefore, the study of quadrupeds that can complete the basic movements of mammals has very important theoretical significance and broad...

AI Technical Summary

Problems solved by technology

Patent CN110562346A discloses a quadruped hydraulic robot. This robot can better realize quadruped gait, but there are problems of low efficiency of hydraulic actuators, such as viscous loss in moving fluid, internal leakage and pressure drop of servo valve, and in addition Using hydraulic pressure as power increases the complexity and production threshold of the robot

The twelve-degree-of-freedom bionic quadruped robot published in patent CN110641571A uses twelve motors as driving power. It is difficult to make large movements under the existing torque, only small movements at low speed

The quadruped bouncing robot disclosed in patent 209972624U has a small overall size, is driven by a steering gear, has weak loading capacity, and is not flexible enough to move

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