Multi-purpose test platform for legged robot single leg

Abstract

The invention discloses a multi-purpose test platform for a legged robot single leg. The test platform mainly comprises a leg and foot fixing device, a motion guide device, a leg and foot loading device, a leg and foot motion limiting device, a leg and foot sensing device and a test platform support. By changing the fixed installation points, the robot single leg can be conveniently switched amongstatic fixation, vertical jumping motion and longitudinal walking motion, and multipurpose test conditions such as single-leg static testing, jumping testing and walking testing are integrated. During testing, a built-in sensor system of the test platform can be used for obtaining single-leg stress and displacement information of a robot, and the testing efficiency is effectively improved. Meanwhile, the single-leg load and the pavement terrain can be freely adjusted, and a better test effect is obtained. The multi-purpose test platform is universal for all types of robot leg and foot structures, the standard part proportion is high, the cost is low, and building is easy; and the leg and foot structures and the performance of the leg and foot structures can be quickly tested and verifiedin the early development stage of the legged robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a multipurpose testing platform for a single leg of a legged robot. Background technique [0002] The legged robot is a robot that uses a legged structure to move. Its advantage lies in the ability to walk across the terrain and the flexible and changeable movement ability brought by the legged walking method, which makes it walk on complex terrain such as steps and ditches. It can still pass normally, and has a certain ability to cross obstacles. The leg-foot structure of the current leg-foot robot is various, and the performance of various leg-foot systems is also quite different, which has become a research hotspot in the field of robotics. When developing a new robot leg and foot structure, due to the long development cycle and the high manufacturing cost of core components such as joint drive units, the method of testing a multi-legged robot prototype after compl...

AI Technical Summary

Problems solved by technology

The test platform can realize the motion test of the robot's single leg in the direction of two degrees of freedom, but the test simulates the condition of no load or light load on the single leg, and when the single leg jumps, the flexibility of the rope will not be able to fully guarantee the single leg. The load is counteracted by the pulley mechanism, which affects the accuracy of the test

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