The invention belongs to the technical field of robots, and relates to a three-degree-of-freedom full-decoupling parallel mechanical leg configuration and a quadruped robot. The three-degree-of-freedom full-decoupling parallel mechanical leg configuration comprises a fixed platform and an equivalent hip joint fixed to the fixed platform; a third linear driving part, of which one end is fixed with the second end of the equivalent hip joint; a shank executing mechanism, of which one end is hinged to the other end of the third linear driving part; a supporting rod, of which one end is fixed with the third end of the equivalent hip joint; a movable platform which is arranged on the lower side of the fixed platform, wherein one side is fixed to the other end of the supporting rod, and the other side is hinged to the shank executing mechanism; and a first driving assembly and a second driving assembly which are arranged on the two sides of the equivalent hip joint respectively and located between the fixed platform and the movable platform, wherein one end of each driving assembly is connected with the fixed platform, and the other end of each driving assembly is connected with the movable platform. The invention solves the problems that: the robot is low in walking load capacity, poor in maneuverability, low in speed and large in rotational inertia under the working conditions of complex terrains and severe environments, and the structure is simple, and easy to implement.

    本发明属于机器人技术领域,涉及一种三自由度全解耦并联机械腿腿部构型及四足机器人,包括定平台,与定平台固定的等效髋关节;第三直线驱动部件的一端与等效髋关节的第二端固定;小腿执行机构的一端与第三直线驱动部件的另一端铰接;支撑杆,其中一端与等效髋关节的第三端固定;动平台,设在定平台下侧,其中一侧与支撑杆的另一端固定,另外一侧与小腿执行机构铰接;第一驱动组件和第二驱动组件,分别设在等效髋关节的两侧,位于定平台和动平台之间,其一端分别与定平台连接,另外一端分别与动平台连接。本发明解决了机器人在地形复杂、环境恶劣的作业条件下行走的负载能力低、机动性差、速度慢、转动惯量大的问题,结构简单易实现。


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    Title :

    Three-degree-of-freedom full-decoupling parallel mechanical leg configuration and quadruped robot


    Additional title:

    一种三自由度全解耦并联机械腿腿部构型及四足机器人


    Contributors:
    MA ZHIGUANG (author) / WANG PUJIE (author) / WANG YANAN (author) / FAN KUN (author) / LI BO (author)

    Publication date :

    2021-12-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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