The invention discloses a biped robot with quick-change hands and a motion analysis method thereof under special working conditions. The biped robot comprises a trunk unit, arm units, hip joint units and leg units. The arm unit is provided with manipulators through a quick change structure, and the manipulators comprise a clamping manipulator, a scissor manipulator and a screwing and locking manipulator. Module design is adopted for all movable joints of the robot, and integration and modularization of the robot are greatly improved; a connecting rod mechanism is adopted on the rear side of the knee joint, the design that the hinge point moves outwards is adopted, the motion dead point of the knee joint deviates, the joint module can apply acting force more smoothly, and meanwhile the complexity of the joint connecting position can be reduced.

    本发明公开了一种具有快换手的双足机器人及其特殊工况下运动分析方法,包括躯干单元、手臂单元、髋关节单元以及腿单元;手臂单元通过快换结构安装有机械手,且机械手分为夹持机械手、剪刀机械手和拧锁机械手。本发明的机器人各活动关节采用模组设计,大幅度提高机器人集成化和模块化;膝关节后侧采用连杆机构,采用铰接点外移的设计,让膝关节运动死点产生偏移,让关节模组更加平滑施加作用力,同时也能减少关节连接处的复杂程度。


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    Title :

    Biped robot with quick-change hand and motion analysis method thereof under special working conditions


    Additional title:

    具有快换手的双足机器人及其特殊工况下运动分析方法


    Contributors:
    FENG MEI (author) / WANG JIYAN (author) / LU XIUQUAN (author) / LI HAOJU (author) / GONG YANLEI (author)

    Publication date :

    2024-09-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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