The decoupling biped robot comprises a mounting frame, leg structures are arranged on the two sides of the mounting frame, and each leg structure comprises a thigh module, a knee joint module, a shank module, an ankle joint module and a sole module; the thigh module comprises a first driving motor, a second driving motor and a thigh connecting rod mechanism, and the first end of the thigh connecting rod mechanism is connected with the mounting frame; the knee joint module comprises a first connecting part, a second connecting part and a connecting plate, the first end of the connecting block is hinged to the first connecting part, the second end of the connecting block is hinged to the second connecting part, and the first connecting part and the second connecting part are hinged to the second end of the thigh connecting rod mechanism; the shank module comprises a third driving motor and a shank connecting rod mechanism, the first connecting part and the second connecting part are hinged to the first end of the shank connecting rod mechanism, and the second end of the shank connecting rod mechanism is hinged to the ankle joint module. According to the decoupling biped robot, rotational coupling of robot joints can be avoided, and the control difficulty of the robot is lowered.
本发明提供一种解耦双足机器人,包括安装架,安装架的两侧设有腿结构,每个腿结构均包括大腿模块、膝关节模块、小腿模块、踝关节模块和脚掌模块;大腿模块包括第一驱动电机、第二驱动电机和大腿连杆机构,大腿连杆机构的第一端与安装架连接;膝关节模块包括第一连接部、第二连接部和连接板,连接块的第一端与第一连接部铰接,连接块的第二端与第二连接部铰接,第一连接部和第二连接部分别与大腿连杆机构的第二端铰接;小腿模块包括第三驱动电机和小腿连杆机构,第一连接部和第二连接部分别与小腿连杆机构的第一端铰接,小腿连杆机构的第二端与踝关节模块铰接。本发明提供的解耦双足机器人,能够避免机器人关节的转动耦合,降低机器人的控制难度。
Decoupling biped robot
解耦双足机器人
2023-10-31
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |