The invention discloses a quadruped robot driven by a rotary rolling diaphragm and a multi-gait driving method of the quadruped robot. The quadruped robot comprises two chassis and four driving foot assemblies. And the middle parts of the two chassis are rotationally connected and are driven by a power element to rotate relatively. The four driving foot assemblies are installed at the two ends of the two chassis correspondingly. The driving foot assembly comprises a first bionic leg, a second bionic leg and a rotary rolling diaphragm driver; the inner ends of the first bionic legs are rotationally connected to the end parts of the corresponding chassis; and the inner end of the second bionic leg is rotationally connected with the outer end of the first bionic leg. Rotary rolling diaphragm drivers are mounted on the inner side of the joint of the chassis and the first bionic leg and the inner side of the joint of the first bionic leg and the second bionic leg; the rotary rolling diaphragm driver is used for driving the first bionic leg and the second bionic leg to rotate. The rotary rolling diaphragm driver used in the invention has no obvious loss caused by viscoelastic deformation, coulomb friction, viscosity and external meshing.

    本发明公开了一种旋转滚动膜片驱动的四足机器人及其多步态驱动方法。该四足机器人,包括两个底盘和四个驱动足组件。两个底盘的中部转动连接,并由动力元件驱动进行相对旋转。四个驱动足组件分别安装在两个底盘的两端。驱动足组件包括第一仿生腿、第二仿生腿和旋转滚动膜片驱动器;第一仿生腿的内端转动连接在对应的底盘的端部;第二仿生腿的内端与第一仿生腿的外端转动连接。底盘与第一仿生腿的连接处内侧,以及第一仿生腿与第二仿生腿的连接处内侧均安装旋转滚动膜片驱动器;旋转滚动膜片驱动器用于驱动第一仿生腿和第二仿生腿转动。本发明使用的旋转滚动膜片驱动器,无明显的粘弹性变形、库仑摩擦、粘滞、外啮合造成的损失。


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    Titel :

    Quadruped robot driven by rotary rolling diaphragm and multi-gait driving method of quadruped robot


    Weitere Titelangaben:

    一种旋转滚动膜片驱动的四足机器人及其多步态驱动方法


    Beteiligte:
    XU MING (Autor:in) / ZHANG DI (Autor:in)

    Erscheinungsdatum :

    2022-03-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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