The invention discloses a closed-chain running quadruped robot. The closed-chain running quadruped robot is characterized by comprising a robot trunk, a first leg group and a second leg group; the robot trunk comprises a front trunk frame and a rear trunk frame, and the rear end of the front trunk frame is hinged to the front end of the rear trunk frame through a horizontally-arranged connecting shaft; the first leg group and the second leg group are connected with the lower portion of the front trunk frame and the lower portion of the rear trunk frame respectively, the first leg group and thesecond leg group are the same in structure and each comprise a driving assembly and moving assemblies arranged on the two sides of the driving assembly, and the driving assemblies and the moving assemblies are connected through transmission assemblies. According to the invention, the motion structure of natural animals is simulated by using the structure as simple as possible, and each structureis close to the motion state of each part of the animals during motion as possible in the motion process, so that the maximum motion speed of the robot can be effectively improved, the robot can movein different postures, and the terrain adaptability of the robot is improved.

    本发明公开了一种闭链奔跑四足机器人,包括:一种闭链奔跑四足机器人,其特征在于,包括:机器人躯干,第一腿组,第二腿组;机器人躯干包括前躯干架和后躯干架,前躯干架的后端与后躯干架的前端通过水平布置的连接轴铰接;第一腿组和第二腿组分别连接于前躯干架和后躯干架的下方,第一腿组和第二腿组结构相同,均包括驱动组件以及设于驱动组件两侧的运动组件,驱动组件和运动组件之间通过传动组件连接。本发明利用尽量简单的结构,模拟自然界动物的运动结构,并且在运动过程中各结构也尽量贴近了动物运动时各个部位的运动状态,可以有效地提高机器人的最大运动速度,同时能够以不同的姿态运动,提高了机器人的地形适应性。


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    Title :

    Closed-chain running quadruped robot


    Additional title:

    一种闭链奔跑四足机器人


    Contributors:
    WU JIANXU (author) / YAO YAN'AN (author) / YAN SHAOZE (author) / XUN ZHIYUAN (author) / LI YEZHUO (author) / XU XIAOJING (author)

    Publication date :

    2021-03-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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