The invention relates to the technical field of walking robots, in particular to a planar single-degree-of-freedom walking robot leg mechanism. The leg mechanism of the walking robot is a one-degree-of-freedom planar mechanism, only comprises one type of kinematic pair, namely a revolute pair, and is simple and compact in structure, the space occupied by the leg structure is reduced, and the size, the weight and the manufacturing cost of the leg mechanism of the robot can be reduced; the preset walking movement can be realized only by driving the crank to perform 360-degree whole-circle rotation by taking one end of the crank as a circle center; a fourth connecting end point of the quadrangular executing connecting rod component is an executing point, makes contact with the ground and serves as an output point of the whole mechanism, a preset movement track can be output, the bottom of the track approaches a straight line, the top of the track forms a smooth arc which ascends and descends sequentially, and the walking movement requirement of the legs of the robot is met. The mechanism has a reasonable and uniquely determined movement track in the movement process, components do not interfere with each other in the movement process, and excellent comprehensive performance is achieved.
本发明涉及行走机器人技术领域,尤其涉及一种平面单自由度的行走机器人腿部机构。本发明的行走机器人腿部机构为1自由度的平面机构,仅包含转动副这一种类型的运动副,结构简单,结构紧凑,减少腿部结构所占空间,有利于降低机器人腿部机构的尺寸、重量和制造成本;只需要驱动曲柄以曲柄的一端为圆心做360°整周转动,即可实现预定的行走运动;四角形执行连杆构件的第四连接端点为执行点,与地面接触,作为整个机构的输出点,可以输出预定的运动轨迹,该轨迹底部趋近直线,顶部形成先上升后下降的平滑弧线,满足机器人腿部的行走运动需求;机构在运动过程中有合理且唯一确定的运动轨迹,构件在运动过程中不发生干涉,具有优异的综合性能。
Plane single-degree-of-freedom walking robot leg mechanism
一种平面单自由度的行走机器人腿部机构
2025-03-25
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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