The invention discloses a degree-of-freedom switchable leg mechanism of a foot type robot, which comprises a degree-of-freedom switching floating mechanism, a crank, a crank connecting rod, a single-degree-of-freedom motor, a double-degree-of-freedom motor, a four-connecting-rod mechanism, a foot plate connecting rod and a foot plate, one end of the crank connecting rod is connected with the single-degree-of-freedom motor through a crank and is connected with the degree-of-freedom switching floating mechanism; the two-degree-of-freedom motor is connected with the degree-of-freedom switching floating mechanism and the upper end of the foot plate connecting rod through the four-connecting-rod mechanism, the upper end of the foot plate connecting rod is hinged to the other end of the crank connecting rod, and the lower end of the foot plate connecting rod is connected with the foot plate. The robot can adapt to various different road conditions, the advancing speed and trafficability areimproved, the gait smoothness of the robot during gait movement is enhanced, and the control difficulty is greatly reduced.
本发明公开了一种可切换自由度的足式机器人的腿部机构,包括切换自由度浮动机构、曲柄、曲柄连杆、单自由度电机、双自由度电机、四连杆机构、脚板连杆和脚板,曲柄连杆的一端通过曲柄与单自由度电机连接,并与切换自由度浮动机构连接,双自由度电机通过四连杆机构分别与切换自由度浮动机构和脚板连杆的上端连接,脚板连杆的上端与曲柄连杆的另一端铰接,脚板连杆的下端与脚板连接。本发明能适应多种不同的路况,提高行进速度和通过性,既增强机器人步态运动时的步态平顺性,又大大降低的控制的难度。
Degree-of-freedom switchable leg mechanism of foot type robot
一种可切换自由度的足式机器人的腿部机构
2021-02-05
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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