The invention discloses a lightweight four-degree-of-freedom leg mechanism of a four-foot bionic robot. The leg mechanism comprises a hip joint yawing assembly, a thigh yawing assembly and a shank yawing assembly, the hip joint yawing assembly comprises a hip joint swing cylinder and an electro-hydraulic actuator, one end of the electro-hydraulic actuator and one end of the thigh yawing assembly are hinged to the hip joint swing cylinder through connecting blocks respectively, the other end of the electro-hydraulic actuator is hinged to the side face of the thigh yawing assembly, and the otherend of the thigh yawing assembly is hinged to the shank yawing assembly. According to the four-degree-of-freedom leg mechanism of the four-foot bionic robot, through the integrated oil way design, light weight is achieved, the hip joint swing cylinder is driven and controlled by the hydraulic pump, the load resistance is high, the power-to-weight ratio is high, the electro-hydraulic actuator andthigh longitudinal swing general assembly is quick in action response, kinetic parameters are easy to accurately measure, and four-degree-of-freedom motion with three active degrees of freedom and onepassive degree of freedom can be achieved.

    本发明公开了一种四足仿生机器人轻量化四自由度腿部机构,包括髋关节横摆总装、大腿纵摆总装和小腿纵摆总装,髋关节横摆总装包括髋关节摆缸和电液执行器,电液执行器与大腿纵摆总装的一端分别通过连接块与髋关节摆缸铰接,电液执行器的另一端与大腿纵摆总装的侧面铰接,大腿纵摆总装的另一端与小腿纵摆总装铰接。本发明的四足仿生机器人四自由度腿部机构通过集成化的油路设计实现了轻量化,髋关节摆缸受液压泵驱动控制抗负载能力强、高功重比,电液执行器与大腿纵摆总装动作响应快、动力学参数易于精确测量、能够实现三个主动自由度加一个被动自由度的四自由度运动。


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    Title :

    Lightweight four-degree-of-freedom leg mechanism of four-foot bionic robot


    Additional title:

    一种四足仿生机器人轻量化四自由度腿部机构


    Contributors:
    YU BIN (author) / BA KAIXIAN (author) / YANG JIANKUI (author) / ZHU QIXIN (author) / HUANG ZHIPENG (author) / YUAN LIPENG (author)

    Publication date :

    2020-07-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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