一种耦合式四关节三自由度仿生腿
By using a coupled four-joint three-degree-of-freedom design and utilizing telescopic joint motors to drive the synchronous movement of the thigh assembly, lower leg assembly, and metacarpals, the problem of easy collisions with obstacles in the legs of quadrupedal bionic robots is solved, achieving high mobility and reliability in complex environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHONGBING INTELLIGENT INNOVATION RES INST CO LTD
- Filing Date
- 2025-09-19
- Publication Date
- 2026-07-17
AI Technical Summary
The legs of existing quadrupedal bionic robots are prone to collisions when encountering obstacles. Increasing the number of joints will increase complexity and weight. Furthermore, the knee and ankle joints of existing three-joint, four-degree-of-freedom legs are not aligned, making them prone to collisions with obstacles.
It adopts a coupled four-joint three-degree-of-freedom design, using telescopic joint motors to drive the thigh component, lower leg component and metacarpals to move simultaneously. The three-bar structure design reduces the space occupied by the knee and ankle joints, and the coupling drive method reduces the number of motors, thus achieving synchronous movement of the knee and ankle joints.
Without increasing the complexity and weight of the legs, the probability of collisions with obstacles is reduced, and the robot's mobility and reliability are improved by simplifying foot trajectory calculations.
Smart Images
Figure CN120886942B_ABST