The invention discloses a biped robot based on electro-hydraulic servo drive and an advancing method thereof, the robot comprises a trunk, upper limbs with motor drive joints and lower limbs with hydraulic drive joints, and the lower limbs are composed of leg assemblies and foot assemblies. The upper limb, double arms and the dexterous hand part use electric mechanical arms to complete specified actions, high flexibility is achieved, the lower limb part is driven by a high-power-density hydraulic oil source, strong explosive force and support can be provided for movement of the whole robot, and the lower limb of the robot obtains stronger power and meanwhile can be driven by the hydraulic oil source. Under the load that the upper limbs are heavy, stronger supporting force and pressure resistance are provided, due to the fact that electro-hydraulic cooperative driving is adopted, overall performance optimization is achieved according to different component requirements, more efficient and more flexible robot design is achieved, and the overall movement ability of the robot is enhanced while the overall performance and adaptability are improved.

    本发明公开了一种基于电液伺服驱动的双足机器人及其行进方法,该机器人包括:躯干、具有电机驱动关节的上肢和具有液压驱动关节的下肢,所述下肢由腿部组件和足部组件组成。上肢双臂以及灵巧手部分使用电动机械臂完成指定动作,具有高度灵活性,在下肢部分以高功率密度液压油源进行驱动,能够为整机运动提供强大的爆发力和支撑,使得机器人下肢在获得更为强劲动力的同时,在上肢较重的负载下提供更强的支撑力和抗压能力,因采用电液协同驱动,根据不同的部件需求实现整体性能优化,实现更高效、更灵活的机器人设计,提高整体性能和适应性的同时增强机器人整体运动能力。


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    Title :

    Biped robot based on electro-hydraulic servo drive and advancing method thereof


    Additional title:

    一种基于电液伺服驱动的双足机器人及其行进方法


    Contributors:
    LUO MINZHOU (author) / LIU RUIKAI (author) / ZHANG WENXIANG (author) / YANG YONGLI (author) / ZHU HAO (author) / YUAN LIPENG (author) / LYU ZIGUI (author)

    Publication date :

    2024-08-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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