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Similar dual-A-arm suspended robot crotch lateral-deviation damping system

A shock absorption system and suspension technology, which is applied in suspension, motor vehicles, elastic suspension, etc., can solve the problem that the hydraulic system is difficult to apply small robots, etc., and achieve the effect of reasonable force, simplified system and high integration

Inactive Publication Date: 2013-09-25
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the Bigdog in the United States uses hydraulically driven lateral joints, but the hydraulic system is difficult to apply to small robots

Method used

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  • Similar dual-A-arm suspended robot crotch lateral-deviation damping system
  • Similar dual-A-arm suspended robot crotch lateral-deviation damping system
  • Similar dual-A-arm suspended robot crotch lateral-deviation damping system

Examples

Experimental program
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Effect test

Embodiment Construction

[0016] Such as Figure 1-6 As shown, the side deflection damping system of the crotch of the quasi-double A-arm suspension robot is composed of figure 1 four-bar linkage, figure 2 Screw slide drive unit, image 3 thigh drive unit, Figure 4 The tension spring damping mechanism is integrated into one system.

[0017] Such as figure 1 , is a four-bar linkage mechanism: 1 upper side connecting frame rod, 2 lower side connecting frame rods, 3 connecting rods of matching type, 6 trunks, and 9 sliders. The frame of four links is the connection determined by the 6 torso and the 9 sliders, which can change with the position of the 9 sliders, and the 2 lower side connecting frame rods push the lateral movement of the thighs with the sliders.

[0018] Such as figure 2 , is the driving unit of the screw slide table: 2 lower side connecting frame rods, 9 sliders, 10 nuts, 11 screw rods, 12 reduction motors, 13 support frames, and 14 couplings. The slider can be obtained by calcula...

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Abstract

The invention discloses a similar dual-A-arm suspended robot crotch lateral-deviation damping system. The system is positioned on the crotch for connecting thighs and a body of a robot, and functions of damping and supporting lateral-deviation movement of legs of the robot can be realized. Based on a biological movement function bionics principle, structural characteristics and movement functions of the shoulder and the crotch of a tetrapod are simulated so as to realize leg lateral-deviation movement of a multi-legged robot, and the robot is guaranteed to have enough damping and vibration absorption capabilities. In order to completely achieving the goal, the similar dual-A-arm suspended robot crotch lateral-deviation damping system is designed. By depending on components such as a four-bar mechanism framework, extension springs and a lateral-deviation driving device, the system can achieve lateral-deviation movement of the crotch of the multi-legged robot and a damping function. The four-bar mechanism framework has good stability, lateral-deviation movement can be completed by matching of lead screw driving, total system stability of the multi-legged robot is improved, good bionic effect is gained, and flexibility of the robot is improved greatly.

Description

technical field [0001] The invention belongs to the technical field of bionic quadruped robots, in particular to the crotch shock absorption of a running and jumping quadruped robot. Background technique [0002] Legged robots, especially multi-legged robots, are developed to realize the flexible movement of robot legs with multiple degrees of freedom. However, in order to ensure the stability of the control, most legged robots do not have lateral motion joints for the legs. This greatly reduces the ability of the robot to resist lateral disturbances. At present, Bigdog in the United States uses hydraulically driven lateral joints, but hydraulic systems are difficult to apply to small robots. In addition, it is not enough to achieve lateral deflection. For a robot that is impacted by a certain frequency on the ground, a shock absorbing system is required for the shoulder or crotch where the legs are connected to the torso. Therefore, for electronically controlled multi-le...

Claims

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Application Information

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IPC IPC(8): B62D57/032B60G11/14
Inventor 罗庆生黄焱崧高剑锋周晨阳张博希刘芳政柯志芳
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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