Biped robot leg structure based on five connecting rods

Abstract

The invention discloses a biped robot leg structure based on five connecting rods. Two groups of two-degree-of-freedom hip joint motor assemblies are arranged on the machine body, and output shafts of the hip joint motor assemblies are fixedly connected with a rack of a five-connecting-rod structure; hip / knee joint motors are respectively mounted at two ends of the frame, and output shafts of the hip / knee joint motors are fixedly connected with hip joint connectors; the connecting part of the hip joint connector is fixedly connected with the thigh rod piece; the thigh rod piece is freely hinged to the shank rod piece through the knee joint; the other ends of the two shank rod pieces are hinged and hinged to the feet of the robot. An ankle joint motor is fixed at the upper part of the first shank rod piece; a rotating output shaft of the ankle joint motor is connected with one end of a first ankle joint connecting rod, and the other end of the first ankle joint connecting rod rotates around the rotating output shaft of the ankle joint motor; the other end of the first ankle joint connecting rod is further hinged to the robot foot through a second ankle joint connecting rod parallel to the first shank rod piece. The inertia of the foot end can be reduced, and therefore the single-leg load bearing capacity and the foot control degree of the robot are improved.

Description

technical field

[0001] The invention relates to the field of robots, in particular to a biped robot leg structure based on five linkages. Background technique

[0002] A biped robot is a bionic type of robot that can realize bipedal walking and related actions of the robot. In future production and life, humanoid biped walking robots can help humans solve many problems, such as carrying objects, emergency rescue and a series of dangerous or heavy tasks.

[0003] The leg structure of the biped walking robot is similar to the biped of human beings, which can realize walking like human beings. How to maintain balance without sacrificing speed is one of the obstacles to the development of biped robots. Today's state-of-the-art bipedal robots are capable of walking and running at relatively high speeds. However, in complex environments, the ability to walk and run anti-interference like humans is still "lack" for biped robots.

[0004] The existing robot series structure and ...

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