Foot type robot motion experiment table
A robot motion and robot technology, applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as deviation of expected experimental results, and achieve the effect of saving resources
Active Publication Date: 2022-07-22
WUHAN UNIV OF SCI & TECH
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Problems solved by technology
[0004] The purpose of this invention is to provide an experimental platform and experimental method for the jumping experiment of legged robots, so as to solve the expectation that the current robot jumping experiment process is difficult to continue. The deviation of the experimental results, the manpower consumed by the frequent reset of the robot during the experiment, and the problems caused by other factors that may affect the experimental results, and provide the actual results and expectations of the experiments under the conditions of equivalent speeds on different road surfaces Experimental conditions for biased results
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[0031] Figure 1 to Figure 3 Shown is a footed robot motion experiment platform, which includes a base 3 , a road surface simulation platform 1 and a robot displacement measuring device 2 installed on the base 3 . The bottom of the base 3 has a supporting foot cup 18 . The road simulation platform 1 includes a running belt 10 , a running board 11 and a driving system for driving the running belt 10 . The running board 11 is arranged between the running belts 10 , and is fixed on the base 3 by the running board connecting piece 12 . The transmission system includes a motor 5 and a first roller 4 and a second roller 8 located at both ends of the running belt 10 to tension it. The two rollers 4 and 8 are parallel to each other, and are fixed on the base 3 by the roller connecting piece 13 . The second roller 8 is connected with a pulley, the motor 5 shaft is connected with a small pulley 6, and the two pulleys are connected by a transmission belt 7 to form a belt drive.
[003...
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A foot type robot motion experiment table comprises a bottom table (3); the road surface simulation platform (1) comprises a running belt mounted on the bottom table; a displacement measurement device (2) which is installed on the base and measures the displacement of the robot on the running belt; and the control system measures the displacement of the robot on the running belt in real time according to the displacement sensor of the displacement measuring device to control the belt speed of the running belt, and provides experimental conditions for exploring the deviation between the actual experimental result and the expected result under the condition of different road equivalent speeds.
Description
technical field [0001] The invention belongs to the field of intelligent robot testing technology and equipment, and particularly relates to a foot-type bionic robot motion test bench. Background technique [0002] In recent years, the foot-type bionic robot has developed rapidly. As a discipline integrating machinery, electronics, computer, control science, measurement and control technology, and artificial intelligence, its wide range of disciplines and high degree of technical integration have attracted many scholars and scientific research. Favored by institutions and technology companies, it is one of the hottest research fields at the moment. [0003] Leaping motion is the way most animals achieve fast walking and jumping over obstacles, and it is also the desired goal of the bionic design of footed robots. The jump experiment is an indispensable and important process to evaluate the robustness of the stability control algorithm and the structural design of the footed...
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Login to View More IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 刘清宇阮禹袁兵许多牟子安
Owner WUHAN UNIV OF SCI & TECH