An energy-saving bionic tension-compression body patellofemoral joint for bipedal walking robot

A technology of walking robots and hip joints, applied in manipulators, motor vehicles, joints, etc., can solve problems such as complex control algorithms, complex algorithms, and energy consumption, so as to increase joint stability, reduce energy consumption, and increase lever arm Effect

Active Publication Date: 2022-03-29
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This requires complex control algorithms and consumes a lot of energy to ensure that the joints move according to the pre-planned trajectory
With more functional requirements, such as maintaining a certain degree of robustness and having a natural walking gait, this structure requires more complex algorithms and precise feedback mechanisms, which undoubtedly increases a lot of energy consumption

Method used

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  • An energy-saving bionic tension-compression body patellofemoral joint for bipedal walking robot
  • An energy-saving bionic tension-compression body patellofemoral joint for bipedal walking robot
  • An energy-saving bionic tension-compression body patellofemoral joint for bipedal walking robot

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Embodiment Construction

[0045] The present invention is described below in conjunction with accompanying drawing.

[0046] Such as figure 1 As shown, the present invention is composed of a bionic double ball member A, a bionic sliding lever member B, a ligament assembly C and a connector 1, wherein: the connector I is fixedly connected to the upper end of the bionic double ball member A; the bionic sliding lever member B is located on the bionic double ball The front end of the ball component A, the connector I is fixedly connected to the upper end of the bionic double ball component A; the lower end of the flexible bionic patella ligament 16 of the ligament component C is screwed to the upper part of the matrix threaded hole group V11 on the front surface of the bionic sliding lever component B via bolts The upper end of the flexible bionic patella inferior ligament 17 is threadedly connected to the lower part of the matrix threaded hole group V11 at the front end of the bionic sliding lever member ...

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Abstract

An energy-saving bionic tension-compression patellofemoral joint for a bipedal walking robot belongs to the technical field of mechanical bionic engineering. The invention consists of a bionic double ball component of a compression body, a bionic sliding lever component and a ligament assembly of a tension body. The invented energy-saving bionic tension-compression body knee joint utilizes a special joint geometry structure, introduces bionic slider components to reduce energy consumption, and is guided and restricted by bionic ligaments. Excessive joint movement; the invention is suitable for biped walking robots and can achieve low energy consumption , high stability, high flexibility and natural anthropomorphic gait.

Description

technical field [0001] The invention relates to the technical field of mechanical bionic engineering, in particular to an energy-saving bionic tension-compression knee joint for a biped walking robot. Background technique [0002] At present, most biped walking robots use a rigid hinge structure as the joint structure of the lower limbs, which only has a single degree of freedom in the sagittal plane accompanied by extension and flexion movements. Through motor control, this rigid hinge structure provides accurate position and torque control, and at the same time cooperates with the feedback system for accurate joint trajectory control. This requires complex control algorithms and consumes a lot of energy to ensure that the joints move according to the pre-planned trajectory. With more functional requirements, such as maintaining a certain degree of robustness and having a natural walking gait, this structure requires more complex algorithms and precise feedback mechanisms,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02B62D57/032
CPCB25J17/0283B62D57/032
Inventor 任雷卢雪薇王坤阳钱志辉修豪华梁威
Owner JILIN UNIV
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