A series-parallel connection hybrid biped robot comprises a hip connecting piece (1) and legs (100 and 101) on the left side and the right side. The left leg part (100) and the right leg part (101) comprise hip joints (2), thigh part driving branch chains (3), thigh part driven branch chains (4), shank parts (5), ankle joints (6) and foot parts (7); the hip joints (2) on the two sides are fixedly connected through the hip connecting piece (1), the hip platform (21) is fixedly connected with the driving sliding rail module (39), and the first connecting piece (22), the second connecting piece (24) and the third connecting piece (26) are hinged to the fourth connecting piece (44), the fifth connecting piece (45) and the sixth connecting piece (46) respectively. The two ends of the thigh driving branch chain (3) and the thigh driven branch chain (4) are hinged to the hip joint (2) and the shank part (5) respectively and control the hip joint (2) and the shank part (5) to rotate; the two ends of the ankle joint (6) are hinged to the shank part (5) and the foot part (7) respectively and control the shank part (5) and the foot part (7) to rotate. A single leg of the biped robot has six degrees of freedom, and the driving devices are all in linear driving.
一种串并联混合式双足机器人,包括髋部连接件(1)及左、右两侧的腿部(100、101);左、右腿部(100、101)包括髋关节(2)、大腿部驱动支链(3)、大腿部从动支链(4)、小腿部(5)、踝关节(6)、足部(7);两侧髋关节(2)通过髋部连接件(1)固定连接,髋部平台(21)与驱动滑轨模组(39)固定连接,第一、第二、第三连接件(22、24、26)分别与第四、第五、第六连接件(44、45、46)铰接;大腿部驱动支链(3)与大腿部从动支链(4)两端分别铰接髋关节(2)与小腿部(5),并控制两者转动;踝关节(6)两端分别铰接小腿部(5)与足部(7),并控制两者转动。本发明双足机器人单腿拥有六个自由度,驱动装置均为直线型驱动。
Series-parallel connection hybrid biped robot
一种串并联混合式双足机器人
2023-01-13
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |