The invention discloses a variable-stiffness single-leg mechanism and a legged robot, and belongs to the technical field of robots. Thighs and shanks of the rigidity-variable single-leg mechanisms are hinged to knee joints, first driving modules are installed on the thighs, and second driving modules are installed on the shanks; the two ends of the elastic piece are hinged to the first moving piece and the second moving piece respectively. The rigidity-variable single-leg mechanism is configured in the mode that when the thigh and the shank are bent to a set angle, the first moving part moves in the direction close to the knee joint, the second moving part moves in the direction away from the knee joint, the distance between the first moving part and the second moving part is kept unchanged, and when the thigh and the shank are bent to a set angle, the first moving part moves in the direction close to the knee joint, and the second moving part moves in the direction away from the knee joint. And the elastic piece is in a vertical state. And when the center line direction of the elastic piece is in the vertical direction, the maximum value of the output rigidity is reached, so that the jumping height of the single-leg mechanism can be increased, and the consumption of jumping driving energy is reduced.
本发明公开了一种变刚度的单腿机构和腿式机器人,属于机器人技术领域。变刚度的单腿机构的大腿和小腿均铰接于膝关节处,在大腿上安装第一驱动模块,在小腿上安装第二驱动模块;弹性件的两端分别铰接于第一移动件和第二移动件上;所述变刚度的单腿机构被配置为:当所述大腿和所述小腿弯曲至设定角度时,所述第一移动件沿靠近所述膝关节的方向移动,所述第二移动件沿远离所述膝关节的方向移动,且保持所述第一移动件和所述第二移动件之间的间距不变,并使所述弹性件处于竖直状态。当弹性件的中心线方向沿竖直方向时,此时达到输出刚度的最大值,这将有利于提高单腿机构的跳跃高度,节约跳跃驱动能量的消耗。
Variable-stiffness single-leg mechanism and legged robot
变刚度的单腿机构和腿式机器人
2023-05-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |