The invention discloses a parallel double-foot legged robot, and belongs to the field of robots, the parallel double-foot legged robot comprises a robot body, a device filling chamber is arranged in the robot body, a left leg group and a right leg group are arranged at the bottom end of the robot body, the left leg group and the right leg group are identical in structure, a servo motor seat is arranged below a first motor, and a second motor is arranged below the servo motor seat. The first motor can drive the servo motor base to twist outwards by 60 degrees. The gravity center of a robot body serves as a reference coordinate system, soles serve as end executors, motion is formed by superposition of motion of a motor 1, a motor 2, a motor 3 and a motor 4, the motor 1, the motor 2 and the motor 3 control the position and lateral rotation of the end executors, the motor 4 controls front-back rotation of the end executors, and the motor 1, the motor 2, the motor 3 and the motor 4 control the front-back rotation of the end executors. The influence of the motor 4 on the front-back rotation of the end effector can be ignored, at the moment, the robot can walk passively and dynamically, meanwhile, the other leg steps forwards under the condition that the degree of freedom is locked, and the robot will walk in a dynamic and stable gait.

    本发明公开了一种并联双足腿式机器人,属于机器人领域,该装置包括机器人身体,机器人身体的内部设置有器件装填腔室,机器人身体的底端设置有左右两个腿组,左右两个腿组结构相同,电机一的下方设置有伺服电机座,电机一可驱动伺服电机座往外侧扭转六十度。本发明以机器人身体重心为基准坐标系,脚掌为末端执行器,运动由电机1、电机2、电机3和电机4的运动叠加而成,其中电机1、电机2和电机3控制末端执行器的位置和侧向转动,电机4控制末端执行器的前后转动,电机4对于末端执行器的前后转动影响可忽略不计,此时机器人可以被动动态行走,与此同时另一条腿在锁死自由度的情况下向前迈步,机器人将会以动态稳定的步态行走。


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    Titel :

    Parallel double-foot legged robot


    Weitere Titelangaben:

    一种并联双足腿式机器人


    Beteiligte:
    YUAN LI (Autor:in) / GUO ZIHAN (Autor:in)

    Erscheinungsdatum :

    2024-03-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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