Three-degree-of-freedom full-decoupling parallel mechanical leg configuration and quadruped robot

Abstract

The invention belongs to the technical field of robots, and relates to a three-degree-of-freedom full-decoupling parallel mechanical leg configuration and a quadruped robot. The three-degree-of-freedom full-decoupling parallel mechanical leg configuration comprises a fixed platform and an equivalent hip joint fixed to the fixed platform; a third linear driving part, of which one end is fixed with the second end of the equivalent hip joint; a shank executing mechanism, of which one end is hinged to the other end of the third linear driving part; a supporting rod, of which one end is fixed with the third end of the equivalent hip joint; a movable platform which is arranged on the lower side of the fixed platform, wherein one side is fixed to the other end of the supporting rod, and the other side is hinged to the shank executing mechanism; and a first driving assembly and a second driving assembly which are arranged on the two sides of the equivalent hip joint respectively and located between the fixed platform and the movable platform, wherein one end of each driving assembly is connected with the fixed platform, and the other end of each driving assembly is connected with the movable platform. The invention solves the problems that: the robot is low in walking load capacity, poor in maneuverability, low in speed and large in rotational inertia under the working conditions of complex terrains and severe environments, and the structure is simple, and easy to implement.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a three-degree-of-freedom fully decoupled parallel mechanical leg configuration and a quadruped robot. Background technique [0002] Legged robots have higher flexibility than belt-type and track-wheeled robots, and are more suitable for working in complex terrain, especially in areas where disasters occur, such as: fires, earthquakes, red gas leakage in factory areas, etc. Generally, None of the equipment can effectively and quickly transport the detection and rescue equipment to the destination. Legged robots have a higher ability to overcome obstacles and are more suitable for working in these places. Therefore, it has important practical significance for the research of military and civilian legged robots. [0003] Legged robots are mainly divided into two-legged, four-legged and hexapod robots, among which the static stability of quadruped robots is better than ...

AI Technical Summary

Problems solved by technology

However, the above-mentioned robots all adopt the configuration design of series mechanism, the structure size of the robot is large, the weight of the mechanical legs is large, and the moment of inertia is large. Most of the robot drive systems are located on the mechanical legs, with large inertial impact and poor continuity.

[0004] Therefore, it is necessary to improve the mechanical legs of existing quadruped robots, which can overcome the problems of large size, heavy weight, large moment of inertia, and large inertial impact.

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