The invention relates to a multi-legged walker based on three-degree-of-freedom planar parallel mechanical legs, which comprises a rack, a plurality of mechanical legs and a control unit, the control unit is fixedly arranged on the upper end face of the rack, a battery pack is arranged in the rack, the plurality of mechanical legs are symmetrically arranged on two sides of the rack through rack connecting pieces, and the rack connecting pieces are connected with the control unit. The shank connecting rod, the first H-shaped connecting rod, the second H-shaped connecting rod, the third H-shaped connecting rod, the first linear driver, the second linear driver, the fourth H-shaped connecting rod, the rack connecting piece and the third linear driver in each mechanical leg are connected through rotating pairs. Each mechanical leg in the multi-legged walker adopts a three-degree-of-freedom plane parallel mechanism design, the motion characteristics are clear, the leg foot end pieces can swing and move in two directions in the plane, meanwhile, the multiple mechanical legs are symmetrically arranged on the two sides of the rack, and the mechanical legs can move in two directions in the plane. Therefore, the multi-legged walker has a large leg working space and good bearing capacity.
本发明涉及一种基于三自由度平面并联机械腿的多足步行器,其包括机架、多个机械腿和控制单元,控制单元固定设于机架的上端面,且机架的内部设有电池组,多个机械腿通过机架连接件对称设于机架的两侧,每个机械腿中的小腿连杆、第一H形连杆、第二H形连杆、第三H形连杆、第一直线驱动器、第二直线驱动器、第四H形连杆、机架连接件以及第三直线驱动器之间均通过转动副连接。本发明多足步行器中的每条机械腿采用三自由度平面并联机构设计,运动特征明确,腿部足端件在实现摆动的同时,还能实现平面内两个方向的移动,同时多个机械腿对称布置于机架两侧,使得多足步行器具有较大的腿部工作空间和良好承载能力。
Multi-foot walker based on three-degree-of-freedom plane parallel mechanical legs
基于三自由度平面并联机械腿的多足步行器
2022-05-13
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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