The invention discloses a novel closed-chain eight-rod multi-legged robot, and belongs to the field of closed-chain-legged robots. Comprising a rack, four walking leg assemblies and a driving mechanism. The walking leg assembly comprises a gear transmission mechanism, a deformable eight-rod type leg mechanism and a plurality of connecting pieces, the gear transmission mechanism comprises a first gear set and a second gear set, the driving mechanism comprises an adjusting steering engine installed on the walking leg assembly, and the driving mechanism further comprises a driving motor and a one-to-four belt transmission mechanism which are installed on the rack; the driving motors and the adjusting steering engines drive the eight-rod type leg mechanisms to swing front and back, and the four sets of eight-rod type leg mechanisms coordinate with one another, so that the eight-foot robot mechanism achieves walking actions. A closed-chain eight-rod type structure is selected as a walking mechanism of the foot type robot, and the scheme has the advantages of being small in driving number, small in energy consumption, large in overall rigidity, high in load capacity and the like, and belongs to the important research field of bionic robot leg configuration innovation.
本发明公开了一种新型闭链八杆多足机器人,属于闭链足式机器人领域;包括机架、四个行走腿组件、以及驱动机构;行走腿组件包括齿轮传动机构、可变形的八杆式腿部机构和若干连接件,齿轮传动机构包括齿轮组一和齿轮组二,驱动机构包括安装在行走腿组件上的调整舵机,还包括安装在机架上的驱动电机和一拖四的带传动机构;驱动电机和调整舵机驱动八杆式腿部机构前后摆动,四组八杆式腿部机构相互协调,使八足机器人机构实现行走动作。本发明选择了闭链八杆式结构作为足式机器人的行走机构,该方案有于驱动数量少、能耗小、整体刚度大和负载能力强等优点,是仿生机器人腿部构型创新的重要研究领域。
Novel closed-chain eight-rod multi-legged robot
一种新型闭链八杆多足机器人
2023-05-02
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |