The invention discloses a quadruped robot based on a single-degree-of-freedom closed chain connecting rod mechanism. The robot comprises a robot body and mechanical legs, each mechanical leg comprises a front leg mechanism, a rear leg mechanism and a connecting plate, and the front leg mechanisms and the rear leg mechanisms are installed on the robot body in a mirror image mode. The front leg mechanism comprises a right front leg mechanism and a left front leg mechanism, the rear leg mechanism comprises a right rear leg mechanism and a left rear leg mechanism, and the left leg mechanism and the right leg mechanism are symmetrically arranged on the two sides of the machine body. The leg mechanism comprises a single-degree-of-freedom closed-chain connecting rod mechanism, a supporting plate and the like which are obtained through optimization of a closed-chain connecting rod mechanism synthesis and optimization method, the length of each rod piece of the single-degree-of-freedom closed-chain connecting rod mechanism has a fixed proportional relation, and under the condition that a motor is unidirectionally and uniformly arranged, the leg mechanism is fixed to the supporting plate. The foot end track of a single foot of the robot is an oval track, and the soaring phase and the grounding phase use the same time. The quadruped robot based on the single-degree-of-freedom connecting rod mechanism is good in walking stability and high in energy efficiency.
本发明公开了一种基于单自由度闭链连杆机构的四足机器人。所述机器人包括机身和机械腿,机械腿包括前腿部机构、后腿部机构和连接板,所述前腿部机构和后腿部机构通过镜像的形式安装在所述的机器人机身上。前腿部机构包括右前腿部机构、左前腿部机构,后腿部机构包括右后腿部机构、左后腿部机构,左右腿部机构对称布置在机身两侧。腿部机构包括通过闭链连杆机构综合学、最优化方法优化得来的单自由度闭链连杆机构和支撑板等,单自由度闭链连杆机构各杆件长度具有固定比例关系,在电机单向匀速的情况下,机器人单足足端轨迹为卵形轨迹且腾空相和触地相所用时间相同。本发明的一种基于单自由度连杆机构的四足机器人行走稳定性好,能量效率高。
Quadruped robot based on single-degree-of-freedom closed chain connecting rod mechanism
一种基于单自由度闭链连杆机构的四足机器人
2024-05-28
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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