The invention discloses a lower limb structure of a three-degree-of-freedom robot. The three-degree-of-freedom robot lower limb structure comprises a plurality of lower limb modules and a hip joint platform connected with the lower limb modules. Each lower limb module comprises a hip joint signal transmission module, a mechanical thigh, a leg joint connecting assembly, a shank joint module and a mechanical foot. The hip joint signal transmission module is connected with the hip joint platform, an output shaft of the hip joint signal transmission module is coaxially and fixedly connected with the upper end of the mechanical thigh, the lower end of the mechanical thigh is connected with the upper end of the shank joint module through the leg joint connecting assembly, and an output shaft at the lower end of the shank joint module is fixedly connected with the mechanical foot. And the mechanical thighs and the mechanical feet are subjected to multi-degree-of-freedom control through joint signal transmission. Accurate control over the lower limb structure of the robot is achieved, the lower limbs of the robot can be freely and rapidly adjusted, and the robot has the advantages of being high in precision, excellent in controllability and the like.
本发明公开了一种三自由度机器人下肢结构。三自由度机器人下肢结构包括多个下肢模块和连接多个下肢模块的髋关节平台,每个下肢模块包括髋关节信号传动模块、机械大腿、腿部关节连接组件、小腿关节模块和机械脚;髋关节信号传动模块与髋关节平台连接,髋关节信号传动模块的输出轴与机械大腿的上端同轴固连,机械大腿的下端通过腿部关节连接组件与小腿关节模块的上端相连,小腿关节模块下端的输出轴与机械脚固连,其中,机械大腿和机械脚通过关节信号传动进行多自由度的控制。本发明实现了机器人下肢结构的精确控制,机器人下肢能够自由,快速的进行调整,具有高精度,控制性优良等优点。
Lower limb structure of three-degree-of-freedom robot
一种三自由度机器人下肢结构
2024-08-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |