一种驱动集中布置的人形机器人绳驱下肢系统
By driving a centrally arranged cable-driven lower limb system for humanoid robots, the problems of lower center of gravity shift, large inertia, power density and weight contradiction, and insufficient compliance of existing humanoid robot lower limb systems are solved. This achieves the effects of shifting the center of gravity upward, reducing mass and enhancing flexibility, and adapting to a wide range of movements.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- TIANJIN UNIV
- Filing Date
- 2026-05-25
- Publication Date
- 2026-07-17
AI Technical Summary
Existing humanoid robot lower limb systems suffer from problems such as a downward shift in the center of mass, high inertia, a contradiction between power density and weight, insufficient compliance, and limited biomimicry, making it difficult to achieve flexible movement in real-world scenarios.
The humanoid robot adopts a cable-driven lower limb system with centralized drive arrangement. Through cable drive transmission of hip, knee and ankle joints, electromechanical separation and center of gravity shift are achieved. Rolling joints and moving pulley groups are used to achieve tension amplification and constant stiffness characteristics. Combined with Bowden cable tube flexible connection, the joint flexibility and safety are enhanced.
It achieves a concentrated center of gravity, reduced mass, reduced inertia, and enhanced flexibility, improving the robot's safety and mobility in complex environments. It also possesses constant torque and constant stiffness characteristics, adapting to the motion requirements of a wide range of workspaces.
Smart Images
Figure CN122232771B_ABST