The invention discloses a wearable parallel-structure biped robot capable of assisting walking, belongs to the field of foot type robots, and aims to solve the problems that most existing exoskeleton robots are series-connection biped robots and are poor in coordination with wearers, insufficient in rigidity and low in walking speed due to low degree of freedom, and parallel robots are large in size, complex in structure and poor in walking speed although the rigidity is high. The wearable parallel structure biped robot capable of assisting walking is provided by combining the advantages of a parallel robot and improving the parallel structure to be applied to exoskeleton and biped aspects, the core of the parallel structure biped robot is that a Delta configuration parallel robot is adopted, the legs can be flexibly controlled, the bearing capacity is high, and the rigidity is good. The coordination of the whole robot is completed through motion control of the two Delta configuration robots. And during longitudinal movement, high-speed movement is realized by imitating the running action of a leopard. And during transverse movement, the robot can move by imitating the walking action of people.

    一种可辅助行走可穿戴的并联结构双足机器人,属于足式机器人领域,本发明为了解决现有外骨骼机器人多为串联双足机器人,其自由度低导致与穿戴者协调性差,刚度不足,行走速度慢,而并联机器人,虽然刚度较强,但尺寸大,结构复杂,不利于应用在双足机器人领域的问题,进而结合并联机器人的优点,改进并联结构应用于外骨骼和双足方面,提供一种可辅助行走可穿戴的并联结构双足机器人,其核心是采用Delta构型并联机器人,腿部可以灵活控制,承载能力强,刚度好,通过两个Delta构型机器人的运动控制来完成整体机器人的协调性。纵向移动时,仿照猎豹奔跑动作实现高速移动。横向移动时,可以仿照人的走路动作进行移动。


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    Title :

    Wearable parallel structure biped robot capable of assisting walking


    Additional title:

    一种可辅助行走可穿戴的并联结构双足机器人


    Contributors:
    LANG GUODONG (author) / GAO YONGSHENG (author) / SUN XIAOYING (author) / ZHAO JIE (author) / PENG KANG (author)

    Publication date :

    2022-03-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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