The invention relates to a multi-degree-of-freedom bionic goat leg foot, belongs to the technical field of robots, and solves the problems that in the prior art, robot leg structures are poor in stability and prone to side swaying and side turning. The multi-degree-of-freedom bionic goat leg foot comprises a foot structure, a first joint connecting rod, a second joint connecting rod, a leg joint connecting rod and a joint connecting piece, the two foot structures, the two first joint connecting rods and the two second joint connecting rods are symmetrically arranged; the foot structure is rotationally connected with the first joint connecting rod to form a first rotating pair; the first joint connecting rod is rotationally connected with the second joint connecting rod through a first articulated shaft to form a second revolute pair; a joint connecting piece is fixedly installed at the lower end of the leg joint connecting rod, and the two second joint connecting rods are rotationally installed on the joint connecting piece through two second hinge shafts correspondingly. The multi-degree-of-freedom motion of the feet of the bionic goat legs and feet is achieved, and then the robot can be assisted to achieve a more stable posture.
本发明涉及一种多自由度仿生山羊腿足,属于机器人技术领域,解决了现有技术中机器人腿部结构稳定性差容易发生侧摆、侧翻的问题。本发明的多自由度仿生山羊腿足包括:足部结构、第一关节连杆、第二关节连杆、腿部关节连杆和关节连接件;足部结构、第一关节连杆和第二关节连杆均对称设置有两个;足部结构与第一关节连杆转动连接,二者构成第一转动副;第一关节连杆通过第一铰接轴和第二关节连杆转动连接,二者构成第二转动副;腿部关节连杆的下端固定安装有关节连接件,且两个第二关节连杆分别通过两个第二铰接轴转动安装在关节连接件上。本发明实现了仿生山羊腿足的足部的多自由运动,进而能够辅助实现机器人更稳定的姿态。
Multi-degree-of-freedom bionic goat leg foot
一种多自由度仿生山羊腿足
2024-05-24
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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