The invention relates to an under-actuated rope truss type walking robot which is characterized in that a left walking mechanism and a right walking mechanism are planar linkage mechanisms capable of deforming in a plane perpendicular to the left-right direction, each planar linkage mechanism comprises a plurality of parallelograms which are sequentially connected in series in the leg length direction, and every two adjacent edges of each parallelogram are hinged through a joint rotating shaft; one group of diagonals of the parallelograms which are connected end to end in sequence are connected to form a traction path A, and the other group of diagonals of the parallelograms which are connected end to end in sequence are connected to form a traction path B; two motors are installed on the upper half body, two winding drums are installed on the motors, two traction ropes are wound around the two winding drums in the opposite directions respectively, one traction rope extends along a traction path A, and the other traction rope extends along a traction path B. According to the design of the under-actuated rope truss type walking robot, the common advantages of light weight and low power consumption of an under-actuated robot are considered, and the under-actuated rope truss type walking robot has the advantages of being high in motion certainty and stable in walking.

    本发明涉及一种欠驱动绳索桁架式行走机器人,左、右侧行走机构均为可在垂直于左右方向的平面内变形的平面连杆机构,平面连杆机构包括沿腿长方向依次串联的多个平行四边形,每个平行四边形的相邻两条边通过关节转轴铰接连接,多个平行四边形依次首尾相接的其中一组对角线连成牵引路径A,多个平行四边形依次首尾相接的另一组对角线连成牵引路径B;上半身上安装有两台电机,电机上安装有两个卷筒,两个卷筒分别沿相反方向缠绕两根牵引绳,其中一牵引绳沿牵引路径A延伸,另一牵引绳沿牵引路径B延伸。本发明的欠驱动绳索桁架式行走机器人的设计兼顾了欠驱动机器人普遍具有的重量轻、功耗低的优点,并且具有运动确定性强、行走平稳的优点。


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    Title :

    Under-actuated rope truss type walking robot


    Additional title:

    一种欠驱动绳索桁架式行走机器人


    Contributors:
    DING SHUCHEN (author) / WANG YONG (author) / SUN CHAO (author) / QIAO SHANGLING (author) / JIN XIN (author)

    Publication date :

    2023-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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