Lower limb mechanism of biped robot

Abstract

The invention relates to a lower limb structure of a two-leg robot, which belongs to the field of robot. Applying the characteristics of mechanical movement of parallel opposite sides in a parallel four-link, the invention designs the lower limb structure of the robot with two legs having ten degrees of freedom. Compared with the lower limb structure of the general two-leg robot having 12 degreesof freedom, two degrees of freedom of forward swinging on two ankle joints are decreased. In connection with the opposite driving method with two motors and the same axle applied by each forward swinging and sideward swinging, the invention increases a joint driving torque and decreases the rotation clearance when the mechanism is kept compact. Besides, two motors which realize the degrees of freedom of forward swinging on hip and knee joints are both designed and arranged at the knee joints, thus optimizing the quality distribution of leg mechanisms and reducing the design difficulty of the hip joints with 3 degrees of freedom. The invention uses the parallel four-link mechanism to realize the mechanism design of upper legs and lower legs of the robot, so bottoms of the two feet of the robot are always parallel with the ground during walking, and the effect on the walking stability of the robot due to the rotation clearance of output shafts of the motors is effectively decreased.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a lower limb mechanism of a biped robot. Background technique [0002] Studies have shown that if a biped robot wants to achieve a flexible gait similar to that of humans, each leg needs to have at least 3 kinematic joints and 6 degrees of freedom, namely: hip joint front and rear swing, side swing, and twist 3 degrees of freedom , the degree of freedom of the forward and backward swing of the knee joint, and the two degrees of freedom of the forward and backward swing and side swing of the ankle joint. There are many ways to realize these degrees of freedom. Most of the large-scale scientific research robots represented by Honda’s ASIMO use a DC servo motor with a harmonic gearbox drive mode. The Johnnie robot at the University of Munich in Germany uses a DC brushless motor with ball wires. The driving method of the bar. In recent years, with the rapid rise of the RoboCup robot football ...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the difficulty in gait planning caused by motor gaps or errors, as well as the slow and unstable walking speed, the present invention provides a new type of biped walking robot, which solves the problem of walking stability affected by joint motor output gaps through the mechanism itself. To ensure that the soles of the two feet of the robot are always parallel to the ground during walking, which is conducive to the realization of a fast and stable biped walking gait

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