The invention relates to a parallel elastic driving joint based on a foot type robot and a driving method of the parallel elastic driving joint, belongs to the technical field of robot legs and feet, and solves the problem that an existing foot type robot needs to consume too much energy to maintain a standing posture. The parallel elastic driving joint comprises a driving mechanism, a thigh skeleton, a shank skeleton, a pulley, a steel wire rope and an extension spring, the thigh skeleton and the shank skeleton are hinged through a knee joint shaft; the driving mechanism can drive the shank skeleton to rotate relative to the thigh skeleton; one end of the extension spring is fixedly connected to the middle of the thigh skeleton, and the other end of the extension spring is connected with the shank skeleton through a steel wire rope; the pulley is rotatably mounted at the upper end of the shank skeleton, and the steel wire rope bypasses the pulley. Reverse torque is provided through the extension spring to offset part of gravitational torque, and standing posture energy consumption of the foot type robot is saved.
本发明涉及一种基于足式机器人的并联弹性驱动关节及其驱动方法,属于机器人腿足技术领域,解决了现有足式机器人维持站立姿态需要消耗过多能量的问题。本发明的并联弹性驱动关节包括:驱动机构、大腿骨架、小腿骨架、滑轮、钢丝绳和拉伸弹簧;大腿骨架与所述小腿骨架之间通过膝关节轴铰接连接;驱动机构能够驱动小腿骨架相对于大腿骨架转动;拉伸弹簧的一端固定连接在大腿骨架的中部,拉伸弹簧的另一端通过钢丝绳与所述小腿骨架连接;滑轮转动安装在小腿骨架的上端部,钢丝绳绕过滑轮。本发明实现了通过拉伸弹簧提供反向力矩抵消部分重力矩,节约足式机器人的站立姿态耗能。
Parallel elastic driving joint based on foot robot and driving method of parallel elastic driving joint
一种基于足式机器人的并联弹性驱动关节及其驱动方法
2024-11-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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