The invention discloses a double-side knee joint coupling driving force storage jumping leg and foot and a driving method, and relates to the field of quadruped robots. The double-side knee joint coupling driving force storage jumping leg and foot comprises a posterior limb rack, a double-side knee joint coupling driving mechanism and two posterior limb leg mechanisms symmetrically arranged on the left side and the right side of the posterior limb rack; the bilateral knee joint coupling driving mechanism comprises a first rotary driving part, a knee joint driving wheel and a pull rope, the first rotary driving part is used for driving the knee joint driving wheel to rotate, and the pull rope can be retracted and released when the knee joint driving wheel rotates, so that the hind limb leg mechanism performs elastic force storage and release actions. According to the double-side knee joint coupling driving method provided by the invention, originally independent leg swinging and elastic force storage and release processes are associated through limited driving, and a motion superposition effect is generated; the problems of leg degree-of-freedom redundancy, overlarge assembly size and low energy efficiency caused by independent movement of knee joints of left and right legs of a traditional quadruped robot in a jumping gait are solved.

    本发明公开一种双侧膝关节耦合驱动的蓄力跳跃腿足及驱动方法,涉及四足机器人领域,包括后肢机架、双侧膝关节耦合驱动机构和两个对称设置于后肢机架左右两侧的后肢腿部机构,双侧膝关节耦合驱动机构包括第一旋转驱动部件、膝关节驱动轮和拉绳,第一旋转驱动部件用于驱动膝关节驱动轮转动,膝关节驱动轮旋转时能够实现拉绳的收起和释放,以使得后肢腿部机构进行弹性蓄力与释放动作。本发明中提出的双侧膝关节耦合驱动方法,将原本独立的腿部摆动和弹性蓄力与释放过程以有限的驱动关联起来并产生运动叠加效果,解决了传统四足机器人在跳跃步态下由于左右腿膝关节独立运动引起的腿部自由度冗余、装配尺寸过大、能量效率低的问题。


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    Title :

    Bilateral knee joint coupling driven force storage jumping leg foot and driving method


    Additional title:

    一种双侧膝关节耦合驱动的蓄力跳跃腿足及驱动方法


    Contributors:
    SHI QING (author) / DU RONGRONG (author) / WANG RUOCHAO (author) / QIN BOYANG (author)

    Publication date :

    2024-07-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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