The invention relates to a series elastic driving joint, a robot leg and a driving method thereof, belongs to the technical field of robot joint design, and solves the problem that a traditional mechanical structure is poor in flexibility and easy to damage a joint driving motor under an impact load. The series elastic driving joint comprises a leaf spring driving part and a rotating structural part. The rotating structural part is rotationally installed at the end of the thigh skeleton, the rotating structural part and the leaf spring driving part are clamped, the leaf spring driving part can rotate under driving of the joint motor, and meanwhile the leaf spring driving part can drive the rotating structural part to rotate relative to the thigh skeleton. The leaf spring driving piece comprises a connecting plate and a contact leaf spring; the two contact leaf springs are arranged in parallel; the rotating structural member comprises a cam part and a crank part; the contact leaf spring makes contact with the cam part to drive the rotating structural part to rotate. According to the series-connection elastic driving joint, automatic adjustment of the rigidity is achieved, and the movement flexibility of the foot type robot in a complex environment is improved.
本发明涉及一种串联弹性驱动关节、机器人腿足及其驱动方法,属于机器人关节设计技术领域,解决了传统的机械结构柔顺性较差冲击载荷下容易损坏关节驱动电机的问题。本发明的串联弹性驱动关节包括片簧驱动件和旋转结构件;旋转结构件转动安装在大腿骨架的端部,且旋转结构件与片簧驱动件相互卡合,片簧驱动件能够在关节电机的驱动下旋转,同时片簧驱动件能够带动旋转结构件相对于大腿骨架转动。片簧驱动件包括:连接板和接触片簧;接触片簧并列设置有两个,旋转结构件包括:凸轮部和曲柄部;接触片簧与凸轮部接触驱动旋转结构件旋转。本发明的串联弹性驱动关节实现了刚度的自动调节,提升了足式机器人在复杂环境下的运动柔顺性。
Tandem elastic driving joint, robot leg and foot and driving method of robot leg and foot
一种串联弹性驱动关节、机器人腿足及其驱动方法
2024-11-08
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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