The invention relates to the field of humanoid robots, and provides a leg mechanism and a humanoid robot. The leg mechanism comprises a thigh structural part, a foot plate structural part, a shank structural part and an ankle steering engine. The upper end of the shank structural member is rotatably connected to the thigh structural member, and the lower end of the shank structural member is rotatably connected to the foot plate structural member. The ankle steering engine is installed on the thigh structural part and located on the upper side of the rotating connecting position of the thigh structural part and the shank structural part, and the output end of the ankle steering engine is connected with the foot plate structural part through the connecting rod assembly. According to the leg mechanism, the gravity center of the ankle steering engine can be lifted to the thigh structural part, particularly to the position above the anterior knee joint, on the basis, the overall gravity center of the leg mechanism can be improved, the rotational inertia of the leg mechanism can be reduced, and therefore the torque requirements of the anterior hip steering engine and the anterior knee steering engine can be reduced; the control response speed of the leg mechanism and the humanoid robot can be increased.
本申请涉及人形机器人领域,提供一种腿部机构及人形机器人。腿部机构包括大腿结构件、脚板结构件、小腿结构件和脚踝舵机。小腿结构件的上端转动连接于大腿结构件,小腿结构件的下端转动连接于脚板结构件。脚踝舵机安装于大腿结构件,并位于大腿结构件与小腿结构件的转动连接处的上侧,脚踝舵机的输出端通过连杆组件连接脚板结构件。该腿部机构可将脚踝舵机的重心上提至大腿结构件,尤其上提至膝前关节的上方,基于此,可提高腿部机构的整体重心,可降低腿部机构的转动惯量,从而可减少髋前舵机和膝前舵机的力矩需求,可提高腿部机构及人形机器人的控制响应速度。
Leg mechanism and humanoid robot
腿部机构及人形机器人
2024-10-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |