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Multifeet walking robot and its control device

A walking robot and robot technology, applied in the field of robots, can solve the problems of inability to control independently, no impact resistance, lack of flexibility, etc., and achieve the effects of easy coordination and division of labor, good mobility, and compact structure

Inactive Publication Date: 2003-04-16
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this structure is simple, each foot cannot be controlled independently, the gait is single, and it lacks flexibility and impact resistance.

Method used

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  • Multifeet walking robot and its control device
  • Multifeet walking robot and its control device
  • Multifeet walking robot and its control device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0016] like figure 1 As shown, the robot consists of a frame 10, two front feet 5, 6, two middle feet 3, 4 and two rear feet 1, 2. The six legs are divided into left and right rows and distributed side by side. Each of the feet is composed of a lower leg 7, a thigh 8, a hip 9 and a drive and transmission device. Each foot is connected to the frame 10 through a pivot 11 at the center of its hip. Every foot has figure 2 A set of mechanical transmissions shown.

[0017] One of the specific implementations of each foot of the robot is as follows: figure 2 As shown, any foot of the robot consists of a foot 12, a lower leg 7, a connecting rod 13, a thigh 8, a lower leg joint transmission shaft 14, a first wire wheel 18, a thigh joint transmission shaft 16, a first transmission shaft 17, a second wire wheel 15, First pulley gear 19, first pinion 20, calf servo motor 21, thigh servo motor 22, second pinion 23, second pulley gear 24, third pulley 25, hip 9, hip servo The motor ...

Embodiment

[0024] The overall distribution of the robot hexapods in this embodiment is as follows: figure 1 As shown, the structural principle of one of the feet of the robot is as follows image 3 shown. It can be seen from the figure that this embodiment is basically the same as the robot mechanical device and the control method described in the first embodiment. The difference is: in image 3 In the middle, the thigh 8 is composed of two parallel rods that rotate synchronously, and is a type II structure. At the connection between the thigh 8 and the lower leg 7, the lower leg 7 is driven by the second wire wheel 15, and directly rotates around the lower leg joint drive shaft 14.

[0025] The control device is the same as that of the first embodiment.

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Abstract

A multi-lag walking robot has two front, two middle and two rear legs arranged in left and right two rows. Each leg is composed of foot, shank, thigh, innominate part and drive unit consisting of servo motors, gear pairs and steel wire-pulley drive pairs. Its controller comprises central axles of innominate parts, potentiometers on the drive axle of joints, contact switches and pressure sensors on feet, range sensor in the front of frame and visual sensor. A computer is used to control the operation of robot. Its advantages are compact structure, big rotary range of joint, and high flexibility and impact resistance.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a multi-legged walking robot and a control device thereof. Background technique [0002] Since the multi-legged walking robot can walk stably on uneven roads, it can replace wheeled vehicles to complete some transportation operations in non-structural environments, and if an appropriate leg / arm fusion structure is designed, the corresponding end tools Robots can also replace human work in dangerous or harsh environments, or complete tasks that wheeled machines are not easy to accomplish. Therefore, such robots have very broad application prospects in many industries, such as military transportation and exploration, mining, underwater construction. , nuclear industry, planetary exploration, agriculture, forestry, education and entertainment, etc. In view of this, many developed countries in the world have invested considerable manpower and financial resources to carry ...

Claims

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Application Information

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IPC IPC(8): B25J3/04
Inventor 陈学东郭鸿勋李小清罗福源
Owner HUAZHONG UNIV OF SCI & TECH
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