The invention discloses a humanoid robot leg structure based on line driving and a robot. The invention aims to solve the problems of low bionic degree and high inertia of a leg structure caused by the fact that a humanoid robot is directly driven by a rotating motor. The method is mainly used for leg structure design of the humanoid robot. The drivers at the leg joints are uniformly distributed on the thighs, the knee joints are driven by lines, and the pulley blocks are combined, so that contraction and relaxation of muscles are better simulated, and the bionic degree is improved; the ankle joint adopts four-connecting-rod transmission and belt transmission, and the power of the servo motor is transmitted to the ankle joint from the thigh, so that the inertia is reduced, and the dynamic response capability is improved.

    本发明公开了一种基于线驱动的人形机器人腿部结构及机器人。本发明为了解决人形机器人采用旋转电机直驱导致腿部结构仿生度不高、惯量高的问题。本发明主要用于人形机器人腿部结构设计。本发明的腿部关节处的驱动器均分布在大腿上,膝关节采用线驱动,结合滑轮组,从而更好的模拟肌肉的收缩和舒张,提高仿生度;踝关节采用四连杆传动和带传动,将伺服电机的动力从大腿传递到踝关节,从而降低惯量,提高了动态响应能力。


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    Title :

    Humanoid robot leg structure based on line driving and robot


    Additional title:

    一种基于线驱动的人形机器人腿部结构及机器人


    Contributors:
    CHEN GANG (author) / WANG TIANYI (author) / WEI SONGHAI (author) / LIU YULAN (author) / TANG CHENXIN (author) / DAI LE (author) / WU CHUANYU (author)

    Publication date :

    2024-07-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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