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Doubleleg strength test experimental platform of foot type walking robot

A technology for walking robots and testing experiments, which is applied in the direction of two-dimensional position/channel control, etc., can solve the problem of lack of performance testing of legs of footed robots, and achieve low-cost effects

Inactive Publication Date: 2014-06-25
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is a lack of performance tests on the legs of the legged robot, especially the test bench for the control of the legs

Method used

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  • Doubleleg strength test experimental platform of foot type walking robot
  • Doubleleg strength test experimental platform of foot type walking robot
  • Doubleleg strength test experimental platform of foot type walking robot

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Experimental program
Comparison scheme
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Embodiment Construction

[0017] Such as figure 1 As shown, the present invention consists of a robot double-leg test bench 1, a robot single-leg assembly 2, a robot double-leg experimental mechanism 3, a robot double-leg connector 4 and a robot double-leg controller 5. Among them, the robot double-leg test bench is built by standard industrial aluminum alloy profiles, and the double-leg connector 4 is composed of a vertical U-shaped resin plate 6 and a horizontal U-shaped resin plate 7, on which a robot double-leg controller 5 is installed.

[0018] figure 2 The implementation example shown is the robot double-leg experimental mechanism, and this experimental mechanism is made up of horizontal displacement sensor 8, vertical displacement sensor 9, vertical guide rail 10, horizontal displacement sensor sliding connector 11, horizontal displacement sensor fixed connector 12, horizontal guide rail 13. Composed of L-shaped angle steel 14 and rectangular resin plate 15, wherein the slider on the vertical...

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Abstract

The invention discloses a double leg strength test experimental platform of a foot type walking robot. The experimental platform is composed of a robot double leg experimental platform frame, robot single leg assemblies, a robot double leg connector, a robot double leg experimental mechanism and a robot double leg controller. The two robot single leg assemblies are connected through the robot double leg connector, and the robot double leg experiment mechanism is connected with the robot double leg connector through a sliding block on a vertical guide rail. The robot double leg control system is used for collecting and processing data of the robot double leg experiment platform by setting communication of an upper computer and a lower computer and performing planning control over movement strategies. The double leg strength test experimental platform is suitable for controlling single leg strength and double leg strength of the foot type walking robot, walking tests on different terrain, load distribution and gait planning and suitable for early-stage study and control strategy verification of researchers of the foot type walking robot and has the advantages of being low in cost, easy to manufacture and accurate and reliable in experimental result.

Description

technical field [0001] The invention relates to an experimental platform for legs of a robot, in particular to an experimental platform for testing the strength of legs of a legged walking robot. Background technique [0002] Because the legged walking robot needs to move in the complex uneven environment, and is different from other manipulators, it is a statically indeterminate system about the reaction force of the foot end when it contacts with the environment. Therefore, it is necessary to plan and control the foot force of the walking robot. In the process of performing different tasks, the footed walking robot needs to constantly change or maintain a certain posture; and different postures will produce different foot force distribution, which is It is required that the robot legs can quickly and accurately track the foot force required by the upper-level planner, or be able to maintain the support force of the foot end within a certain expected allowable range. In an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 金波朱雅光李世通李伟张璐何琳倩方雄
Owner ZHEJIANG UNIV
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