The invention relates to an eight-degree-of-freedom parallel quadruped robot which comprises a robot body, a power supply, a connecting rod group and four leg structures, the connecting rod group is connected with the fuselage, each leg structure is connected with the connecting rod group, and the four leg structures are divided into two groups and are uniformly arranged on two opposite sides of the fuselage; each leg structure comprises a first power source part, a second power source part, a first transmission assembly, a second transmission assembly and a buffer device, and the power source is electrically connected with the first power source part and the second power source part; the first power source piece drives the first transmission assembly to move, the second power source piece drives the second transmission assembly to move, the first transmission assembly and the second transmission assembly form a linkage leg structure, and the two opposite ends of the buffering device are connected with the first transmission assembly and the second transmission assembly respectively. According to the eight-degree-of-freedom parallel type quadruped robot, the walking or jumping flexibility and adaptability of the robot can be guaranteed, and the adaptability of the eight-degree-of-freedom parallel type quadruped robot in a complex terrain environment can be improved.
本发明涉及一种八自由度并联式四足机器人,包括机身、电源、连接杆组和四个腿部结构;连接杆组与机身连接,各腿部结构均与连接杆组连接,且四个腿部结构分两组均匀布置于机身的相对两侧;各腿部结构均包括第一动力源件、第二动力源件、第一传动组件、第二传动组件和缓冲装置,电源与第一动力源件、第二动力源件电连接;第一动力源件驱动第一传动组件运动,第二动力源件驱动第二传动组件运动,第一传动组件和第二传动组件组成联动腿部结构,缓冲装置的相对两端分别连接第一传动组件和第二传动组件。该八自由度并联式四足机器人能够保证其行走或者跳跃的灵活性和适应性,且能够提高该八自由度并联式四足机器人在复杂地形环境下的适应性。
Eight-degree-of-freedom parallel quadruped robot and control method thereof
八自由度并联式四足机器人及其控制方法
2023-11-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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