The invention relates to a motor-driven biped lower limb walking structure and a working method thereof. The walking structure comprises a hip skeleton, a thigh skeleton, a shank skeleton and a foot plate. The upper end of the thigh skeleton is movably connected with the hip skeleton through hip joints; the lower end of the thigh skeleton is movably connected with the shank skeleton through knee joints; and the lower end of the shank skeleton is movably connected with the foot plate through ankle joints. A first motor assembly is installed on the thigh skeleton, the output end of the first motor assembly is fixedly connected with a crank, the crank is hinged to the upper end of a connecting rod, and the lower end of the connecting rod is hinged to the upper portion of the shank skeleton. The motor drives the knee joints to rotate through a four-connecting-rod mechanism and thus stable walking of the lower limbs of the biped robot is realized, so that a problem that the inertia of legsis large because the motor is directly installed at the knee joint is solved; timely response of shanks and feet is achieved, the response speed of foot ends can be remarkably increased, and installation and debugging are convenient.
本发明涉及一种电机驱动的双足下肢行走结构及其工作方法,包括髋部骨架、大腿骨架、小腿骨架和脚板,所述大腿骨架上端通过髋关节与髋部骨架活动连接,大腿骨架下端通过膝关节与小腿骨架活动连接,小腿骨架下端通过踝关节与脚板活动连接;所述大腿骨架上安装有第一电机组件,所述第一电机组件的输出端固定连接有曲柄,所述曲柄与一连杆上端相铰接,所述连杆下端与小腿骨架上部相铰接。利用电机通过四连杆机构带动膝关节的转动,实现双足机器人下肢的稳定行走,避免了在膝关节处直接安装电机造成腿部惯性大的问题,有利于实现小腿及脚部的及时响应,能显著提高足端的响应速度,便于安装调试。
Motor-driven biped lower limb walking structure and working method thereof
一种电机驱动的双足下肢行走结构及其工作方法
2020-04-17
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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