The invention discloses a walking robot based on a novel multi-foot-end walking mechanism, and belongs to the field of walking robots. Comprising a rack, a driving system and eight multi-foot-end walking mechanisms. The multi-foot-end walking mechanism comprises a crank, three triangular three-pair rods, a two-pair connecting rod, two main foot rods and two auxiliary foot rods. The walking mechanisms integrally swing along with the whole-circle rotation of the crank under the limitation of connection with the rack, the foot ends of the main foot and the foot ends of the auxiliary foot move in a specific track, and the eight walking mechanisms are matched with one another to achieve the walking action. According to the multi-foot-end walking mechanism, in the movement process, the two foot ends make contact with the ground and are lifted according to the sequence of the auxiliary foot and the main foot, and therefore better movement stability and lower torque requirements are obtained; by setting the phase difference among the cranks of the eight walking mechanisms, it can be guaranteed that the foot ends of the four walking mechanisms make contact with the ground at any time, and stable walking can be achieved.
本发明公开了一种基于新型多足端行走机构的步行机器人,属于步行机器人领域;包括机架、驱动系统以及八个多足端行走机构;多足端行走机构包括:曲柄、三个三角形三副杆、一个二副连接杆、两个主足杆以及两个副足杆;行走机构在与机架连接的限制下,随着曲柄的整周转动做整体摆动,主足足端与副足足端以特定轨迹运动,八个行走机构之间相互配合,实现行走动作。本发明中的多足端行走机构在运动过程中两个足端以副足、主足的先后顺序触地及抬起,从而获得更好的运动平稳性和更低的力矩需求;通过设置八个行走机构的曲柄之间的相位差,可保证在任意时刻均有四个行走机构的足端触地,即可实现稳定行走。
Walking robot based on novel multi-foot-end walking mechanism
一种基于新型多足端行走机构的步行机器人
08.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Multi-foot walking robot and walking control method thereof
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