The invention belongs to the technical field of robots, and discloses a series connection elastic driving quadruped robot leg structure and a torque control method, and the series connection elastic driving quadruped robot leg structure comprises a thigh joint driving unit, a shank joint driving unit and a hip joint driving unit; the hip joint driving unit and the shank joint driving unit are identical in structure and comprise hollow motors, speed reducers and joint output shafts, the thigh joint driving unit comprises hollow motors, speed reducers, thigh joint output shafts and elastomers, the speed reducers are arranged in the hollow motors, output of the speed reducers is connected with the elastomers, and output of the elastomers is connected with the thigh joint output shafts. The hip joint driving unit and the shank joint driving unit adopt speed reducers with low reduction ratios, so that the cost is reduced. The elastic body is additionally arranged in the thigh joint driving unit, the torque acting on the thigh joint can be measured, and the torque acting on the shank joint can be analyzed and calculated. The safety of the mechanical leg is improved, and the joint speed reducer is protected. And the shock absorption and impact resistance of the quadruped robot are improved.
本发明属于机器人技术领域,公开了一种串联弹性驱动的四足机器人腿结构及力矩控制方法,包括大腿关节驱动单元、小腿关节驱动单元和髋关节驱动单元;髋关节驱动单元和小腿关节驱动单元结构相同,包括中空电机、减速器和关节输出轴,大腿关节驱动单元包括中空电机、减速器、大腿关节输出轴和弹性体,中空电机内具有减速器,减速器输出连接弹性体,所述弹性体输出连接大腿关节输出轴。本发明的髋关节驱动单元和小腿关节驱动单元采用低减速比减速器降低成本。在大腿关节驱动单元内增加弹性体,可以测量出大腿关节上作用的扭矩,并分析计算出小腿关节上作用的扭矩。提高了机械腿的安全性,保护关节减速器。提高了四足机器人减震和抗冲击能力。
Tandem elastically-driven quadruped robot leg structure and torque control method
一种串联弹性驱动的四足机器人腿结构及力矩控制方法
2023-04-04
Patent
Electronic Resource
Chinese
Electrically-driven quadruped robot distributed control system
European Patent Office | 2020
|Quadruped robot driven by rotary rolling diaphragm and multi-gait driving method of quadruped robot
European Patent Office | 2022
|