The invention relates to the technical field of robots, and discloses a lower limb assembly of a biped robot. The lower limb assembly at least comprises a hip joint, a knee joint, an ankle joint and a plurality of actuators; the first actuator is arranged at a preset position of the hip joint and used for driving the hip joint to move in series; the second actuator is arranged on the opposite side of the preset position of the hip joint and used for driving the knee joint to move in series; the third actuator is arranged between the knee joint and the ankle joint and used for driving the ankle joint to move in parallel; when the lower limb assembly is in a standing state, the longitudinal coordinates of the first actuator and the second actuator are higher than the longitudinal coordinates of the third actuator. The mass center of the lower limb assembly can be increased, and the control difficulty of the lower limb assembly is reduced.
本申请涉及机器人技术领域,公开了一种双足机器人的下肢组件。该下肢组件至少包括髋关节、膝关节、踝关节以及多个执行器;第一执行器设置在髋关节的预设位置,用于串联驱动髋关节运动;第二执行器设置在髋关节的预设位置的相对侧,用于串联驱动膝关节运动;第三执行器设置在膝关节和踝关节之间,用于并联驱动踝关节运动;其中,下肢组件在站立状态下,第一执行器和第二执行器的纵向坐标高于第三执行器的纵向坐标。采用该下肢组件可提高下肢组件的质心,降低下肢组件的控制难度。
Lower limb assembly of biped robot
双足机器人的下肢组件
2023-08-18
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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