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Method for connecting parallel connection walking robots and parallel connection walking robot thereof

A technology of walking robot and connection method, which is applied in the direction of manipulators, manufacturing tools, etc., and can solve problems such as adjusting the center of gravity left and right

Active Publication Date: 2011-02-16
韩方元
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The invention discloses a connection method of a parallel walking robot, which solves the defect that the existing multi-ring parallel mechanism walking robot needs to adjust the center of gravity left and right when walking

Method used

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  • Method for connecting parallel connection walking robots and parallel connection walking robot thereof
  • Method for connecting parallel connection walking robots and parallel connection walking robot thereof
  • Method for connecting parallel connection walking robots and parallel connection walking robot thereof

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Experimental program
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Embodiment 1

[0276] according to Figure 3-Figure 8 Shown, be a kind of internal and external type structure that branch chain is SPS, internal and external type structure walking robot, outer leg is annular protruding arch of foot, and inner leg is Y-shaped protruding arch of foot. Embodiment 1 is made of two 6SPS, 6-DOF parallel mechanisms. The 6-DOF parallel mechanism consists of an upper platform, a lower platform and six SPS branch chains connecting the upper and lower platforms. From the top view (the size of the parallel mechanism mentioned in this article is compared from the top view, regardless of the size of the height, that is, only the lateral dimension is compared), one parallel mechanism is larger, and the other parallel mechanism is smaller, and the larger one is called The outer leg, the smaller one is called the inner leg (hereinafter the same). The outer leg is a chamfered truncated truss, and the inner leg is a positive truncated prism (the hip joint polygon of the up...

Embodiment 2

[0283] It is a walking robot with internal and external structure with SPS branch chain, 2x 6DOF, circular concave arch on the outer leg and Y-shaped concave arch on the inner leg. The hexagonal protruding arch of the outer leg in embodiment 1 is replaced by a circular concave arch, and the Y-shaped protruding arch of the inner leg is replaced by a Y-shaped concave arch, which is the walking robot of embodiment 2.

[0284] exist Figure 10 Among them, the arch 3 of the foot is the arch of the outer leg, which is a circular concave arch located on the periphery of the arch of the inner leg. It consists of three arch branches 1.8 forming a ring structure, the upper part of the arch is the ankle joint mounting seat 1.9, and the lower part of the foot arch between the two ankle joint mounting seats is the toe 1.10. The arch of foot 6 is the arch of the inner leg, which is a Y-shaped concave arch of the foot and is surrounded by the arch of the outer leg. It is made up of three a...

Embodiment 3

[0286] It is a 2x6DOF walking robot with internal and external structure with SPS branch chain. Figure 11 It is a top view of the arch of foot of embodiment 3. The hexagonal protruding arch of the outer leg in embodiment 1 is replaced by the hexagonal flat arch, and the Y-shaped protruding arch of the inner leg is replaced by the hexagonal flat arch, which is the walking robot of embodiment 3.

[0287] exist Figure 11 Among them, the arch 3 is the arch of the outer leg, which is a hexagonal flat arch located on the periphery of the arch of the inner leg. It is made up of three arch branches 1.8, and the three arch branches form a ring structure, the upper part of the arch is the ankle joint mounting seat 1.9, and the lower part of the foot arch between the two ankle joint mounting seats is the inline big toe 1.10. Arch of foot 6 is inner leg arch of foot, and it is hexagonal flat arch of foot, is positioned at the surround of outer leg arch of foot. It is made up of three...

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Abstract

The invention provides a method for connecting parallel connection walking robots and a parallel connection walking robot thereof. The parallel connection walking robot mainly comprises two parallel connection mechanisms, wherein each parallel connection mechanism also comprises an upper platform, a lower platform and three or more branch chains for connecting the upper platform with the lower platform. The parallel connection walking robot is characterized in that the two parallel connection mechanisms have specific freedom degree combinations, and the sum of freedom degrees is larger than or equal to 7; the upper platforms of the two parallel connection mechanisms are fixedly connected together, and the distance between projections of the hip joint polygonal centers of the two parallel connection mechanisms on the horizontal plane is smaller than or equal to 0.8 (Ra+Rb); and the lower platforms of the two mechanism respectively comprise two mutual independent foot arches. The robot can stably walk without adjusting the gravity center left and right in the advancing process, has the advantages of three-toe standing, high rigidity, high carrying capacity, flexible steering, high obstacle climbing capability, and the like, can be used for works, such as survey, rescue, exploration, and the like and can be also used for a manipulator.

Description

technical field [0001] The invention discloses a connection method of a parallel walking robot and the parallel walking robot, relates to the improvement of the structure of the existing two-legged walking robot, and belongs to the technical field of parallel robots. Background technique [0002] Walking robots made of multi-ring parallel mechanisms, for example, there are WL series biped walking robots of all parallel mechanisms developed by Waseda University in Japan in 1972, and the lower body module of biped walking robots invented by Japan's Takashi Atsuo (Chinese patent No. 03826959.7), etc. The structure of this type of walking robot is as follows: figure 1 , figure 2 Shown: When the parallel mechanism moves, the moving platform has a highest position and a lowest position, and a position between the highest position and the lowest position is called the neutral position. For example, for the 6SPS sterwart platform, when the P pair is extended to half position, it...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J19/00
Inventor 韩方元
Owner 韩方元
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