本发明提供了一种并联四足机器狗,其包括二自由度五连杆机械腿、动力传动系统、STM32单片机控制系统和机身;STM32单片机控制系统固定在机身底部上方,4个独立的动力传动系统分别设置在机身内4个方位,二自由度五连杆机械腿设置在机身下方,并连接在动力传动系统的外侧。本发明提供的并联四足机器狗采用简单的设计原理来完成复杂动作的理念;设计合理,结构简单,模块集成度高;与其他串联机器狗相比较,本发明的并联四足机器狗重负荷比小,且具有精度高,强度大、刚度大、承载能力强,无累计误差、便于控制等特点。

    The invention provides a parallel four-foot robot dog. The parallel four-foot robot dog comprises two-degree-of-freedom five-connecting-rod mechanical legs, power transmission systems, an STM32 single-chip microcomputer control system and a robot body. The STM32 single-chip microcomputer control system is fixed at the upper part of the bottom of the robot body, four independent power transmissionsystems are arranged in four directions in the robot body respectively, and the two-degree-of-freedom five-connecting-rod mechanical legs are arranged at the lower part of the robot body and connectedto the outer sides of the power transmission systems. The parallel four-foot robot dog provided by the invention adopts a simple design principle to complete the concept of complex actions; the design is reasonable, the structure is simple, and the module integration is high; and compared with other series robot dogs, the parallel four-foot robot dog is small in heavy load ratio, and has the advantages of being high in precision, strength and rigidity, high in bearing capacity, free of accumulative errors, convenient to control and the like.


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    Titel :

    一种并联四足机器狗


    Erscheinungsdatum :

    2024-07-16


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge