The invention discloses a series-parallel anthropomorphic mechanical leg comprising a two-degree-of-freedom hip joint module, a two-degree-of-freedom knee joint module and a two-degree-of-freedom ankle joint module; the two-degree-of-freedom hip joint module is connected with the two-degree-of-freedom knee joint module, and the two-degree-of-freedom knee joint module is connected with the two-degree-of-freedom ankle joint module. The whole mechanical leg forms a six-degree-of-freedom series-parallel hybrid mechanism through the two-degree-of-freedom hip joint module, the two-degree-of-freedomknee joint module and the two-degree-of-freedom ankle joint module. The mechanical leg comprises the two-degree-of-freedom hip joint module, the two-degree-of-freedom knee joint module and the two-degree-of-freedom ankle joint module, the whole mechanical leg forms the six-degree-of-freedom series-parallel hybrid mechanism through the two-degree-of-freedom hip joint module, the two-degree-of-freedom knee joint module and the two-degree-of-freedom ankle joint module, the human motion freedom is met, and stable walking of the mechanical leg in different environments can be realized.

    本发明公开了一种串并联拟人机械腿,包括二自由度髋关节模块、二自由度膝关节模块、二自由度踝关节模块,所述二自由度髋关节模块连接二自由度膝关节模块,二自由度膝关节模块连接二自由度踝关节模块,整个机械腿通过二自由度髋关节模块、二自由度膝关节模块和二自由度踝关节模块构成六自由度串并混联机构;本发明包括二自由度髋关节模块、二自由度膝关节模块、二自由度踝关节模块,整个机械腿通过二自由度髋关节模块、二自由度膝关节模块和二自由度踝关节模块构成六自由度串并混联机构,符合人体运动自由度,能够实现机械腿在不同环境下的稳定性走。


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    Title :

    Series-parallel anthropomorphic mechanical leg


    Additional title:

    一种串并联拟人机械腿


    Contributors:
    LI YANBIAO (author) / CHEN KE (author) / SUN PENG (author) / CHEN QIANG (author) / ZHANG LIYANG (author)

    Publication date :

    2021-01-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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