The invention discloses a twelve-degree-of-freedom quadruped robot. The twelve-degree-of-freedom quadruped robot mainly comprises a robot body, four hip joints and four parallel legs. Wherein the robot body is a main body structure of the robot and is of a plate connecting cavity structure, the four hip joints are arranged on the inner side of the robot body correspondingly and move in cooperation with the four parallel legs arranged on the outer side of the robot body, the hip joints are of swing freedom degree structures of the legs and are of crank rocker structures, and driving elements of the hip joints are located in the robot body. The power element drives the parallel legs to swing to realize hip joint movement; the parallel leg part is of an extending parallel five-rod structure. The hip joint freedom degree of the quadruped robot with the parallel leg structure is achieved with low cost.
本发明公开了一种十二自由度四足机器人,其主要包括机身、四个髋关节和四个并联腿部。其中,机身为机器人的主体结构,其为板件连接空腔结构,四个髋关节分别设置于所述机身内侧与设置于所述机身外侧的四个并联腿部配合运动,其中,髋关节为腿部的摆动自由度结构,为曲柄摇杆结构,髋关节的驱动元件位于机身内部,动力元件带动并联腿部摆动,实现髋关节运动;所述并联腿部为延伸并联五杆结构。本发明以较低的成本实现了并联腿部结构四足机器人的髋关节自由度。
Twelve-degree-of-freedom quadruped robot
一种十二自由度四足机器人
2022-08-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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