本发明公开了一种机器人腿部动力系统及其控制方法。腿部动力系统包括机身,用于承载所述控制单元以及连接腿模块;腿模块,用于完成动作;所述腿模块包括主腿和副腿;所述主腿用于承受所述机身与地面的作用力;所述副腿用于协同所述主腿提供转矩支撑所述机身。本发明所提供的机器人腿部动力系统通过筝型结构的主副腿,在不减弱结构稳定性的前提下,减轻了单腿重量与腿部运动惯量,保证最大程度上保证主腿的整体结构更加稳定,使各向力加载时主腿能维持整腿结构不发生形变或侧向偏倚,进而本系统对电机扭矩、耗电以及散热要求较低,可有效降低成本且易于制作,可广泛应用于智能仿生机器人创新应用领域。
The invention discloses a robot leg power system and a control method thereof. The leg power system comprises: a machine body used for bearing a control unit and connecting leg modules; and the leg modules used for completing actions, wherein each leg module comprises a main leg and an auxiliary leg, the main legs are used for bearing the acting force of the machine body to the ground, and the auxiliary legs are used for cooperating with the main legs to provide torque to support the machine body. According to the leg power system of the robot, the main legs and the auxiliary legs, which are of a zither-shaped structure, reduce the single-leg weight and the leg movement inertia without weakening the structural stability, so the whole structure of the main legs is guaranteed to be more stable to the maximum extent, the main legs can keep the whole leg structure from deforming or laterally deviating when force is loaded in all directions, then the requirements of the system for motor torque, power consumption and heat dissipation are low, the cost can be effectively reduced, manufacturing is easy, and the system can be widely applied to the field of innovative application of intelligent bionic robots.
一种机器人腿部动力系统及其控制方法
2022-03-08
Patent
Elektronische Ressource
Chinesisch