The invention discloses a bionic foot type robot based on a centralized driving four-degree-of-freedom leg structure. And one or more walking mechanisms are fixed below the machine body. The walking mechanism comprises a hip joint mechanism, a thigh mechanism, a knee joint mechanism, a shank and a foot end mechanism; a driving motor of a thigh mechanism and a motion motor of a shank and foot end mechanism are both installed on a hip joint mechanism, the driving motor of the shank and foot end mechanism transmits power to a shank of the shank and foot end mechanism through a parallel four-bar mechanism, the thigh mechanism has freedom degrees in one direction, and the shank has freedom degrees in two directions. And meanwhile, when the robot is transversely impacted, the overall posture of the robot is recovered through transverse movement of the shanks, the rotational inertia of the legs of the robot in the movement process is effectively reduced, and the movement control difficulty of the robot is reduced.

    本发明公开了一种基于集中驱动四自由度腿部结构的仿生足式机器人。由一个或者多个行走机构固定于机体之下。行走机构包括髋关节机构、大腿机构、膝关节机构、小腿及足端机构;其大腿机构的驱动电机与小腿及足端机构的运动电机均安装于髋关节机构,小腿及足端机构的驱动电机通过平行四连杆机构将动力转递至小腿及足端机构的小腿,大腿机构拥有一个方向的自由度,小腿拥有两个方向的自由度,机器人运动过程中电机不随动,同时机器人受到横向冲击时利用小腿横向移动进行机器人整体姿态恢复,有效降低了机器人腿运动过程中的转动惯量,降低了机器人运动控制难度。


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    Title :

    Bionic foot type robot based on centralized driving four-degree-of-freedom leg structure


    Additional title:

    基于集中驱动四自由度腿部结构的仿生足式机器人


    Contributors:
    LUO ZIRONG (author) / SHANG JIANZHONG (author) / XU YUZE (author) / JIN BOYU (author) / JIANG TAO (author) / LU ZHONGYUE (author) / BAI XIANGJUAN (author) / XIA MINGHAI (author) / CHEN SHANJUN (author)

    Publication date :

    2022-05-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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