The invention discloses a leg structure of a biped robot, belongs to the technical field of humanoid robots, and solves the problem that the mass distribution of a series connection structure is too close to the tail end of a leg in the leg design on the basis of realizing two-degree-of-freedom rotation, namely left-right movement along an X axis and front-back movement along a Y axis. The movement of a human hip joint can be better simulated; the driver of the thigh part firstly drives the middleware, and then the middleware drives the driven part to move, so that relative sliding of the thighbone and the tibia and bending movement of the knee joint are simulated under the assistance of the middleware; the telescopic driving part of the shank part drives the universal joint to rotate at any angle in the telescopic process, meanwhile, the movable plate can conduct front-back pitching, left-right swinging and plane rotation, three-degree-of-freedom movement is achieved, the parallel structure is adopted, and better distribution of force and torque can be achieved.

    本发明公开了一种双足机器人腿部结构,属于人形机器人技术领域,髋关节实现了两个自由度转动即沿X轴左右运动和沿Y轴的前后运动的基础上,解决了串联结构在腿部设计中质量分布太靠近腿部末端不利于运动控制的问题,能更好地模仿人类髋关节的运动;大腿部的驱动器先驱动中间件,中间件再带动被驱动件进行运动,从而在中间件的辅助下,实现模拟股骨和胫骨相对滑动,膝关节进行弯曲运动;小腿部的伸缩驱动件在伸缩的过程中,带动万向节在任意角度上转动,同时活动板能够进行前后仰俯、左右摆动和平面旋转,实现了三自由度的运动,且其是并联结构,还能够实现力和力矩的较优分配。


    Access

    Download


    Export, share and cite



    Title :

    Biped robot leg structure


    Additional title:

    一种双足机器人腿部结构


    Contributors:
    ZHANG JUNHUI (author) / LIU YUHAO (author)

    Publication date :

    2025-02-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



    Biped robot leg structure

    LONG YI | European Patent Office | 2025

    Free access

    Biped robot gait control method and biped robot

    XIONG YOUJUN / GE LIGANG / LIU YIZHANG et al. | European Patent Office | 2020

    Free access

    Leg structure and biped robot

    GAI YONGJI / DING HONGYU | European Patent Office | 2023

    Free access

    Leg structure and biped robot

    GAI YONGJI / DING HONGYU | European Patent Office | 2023

    Free access

    Biped robot gait control method and biped robot

    XIONG YOUJUN / GE LIGANG / LIU YIZHANG et al. | European Patent Office | 2022

    Free access