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Series-parallel walking robot construction method and series-parallel walking robot

A walking robot and construction method technology, applied in manipulators, motor vehicles, program-controlled manipulators, etc., can solve problems such as few degrees of freedom, and achieve the effects of low body height, strong bearing capacity, and easy trajectory planning

Active Publication Date: 2017-12-01
韩方元
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0013] 1. The present invention provides a new method for constructing a hybrid walking robot, which solves the problems caused by the redundant degrees of freedom of Rx and Ry and the redundant degrees of freedom of the Z direction, thereby achieving the same with less degrees of freedom. Walking movement while achieving better performance

Method used

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  • Series-parallel walking robot construction method and series-parallel walking robot
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  • Series-parallel walking robot construction method and series-parallel walking robot

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Experimental program
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Embodiment 3

[0160] in

[0161] Ra is the radius of the circumscribed circle of the toe triangle of the A-leg mechanism,

[0162] Rb is the radius of the circumscribed circle of the toe triangle of the B-leg mechanism;

[0163] The first is an isotropic connection scheme, known as the internal and external structure scheme (see embodiment 1, 2); the second is a non-isotropic scheme, called the cross structure scheme (see embodiment 3 , 4).

[0164] For the internal and external structure scheme, if there are two identical leg mechanisms, there will be a phase difference of about 60 degrees when the two upper platforms are connected.

[0165] In the cross structure scheme, the toes of one leg mechanism generally have to fall in the center of the triangle of the other toe.

[0166] In order to provide a hybrid walking robot that can still walk when the body is overturned, including A-leg mechanism, B-leg mechanism and pelvis, the metatarsal branch of the two leg mechanisms of the hybrid w...

Embodiment 1

[0322] Example 1 ( Figure 26 ) is composed of two hybrid leg mechanisms ( Figure 21 ) form the hybrid walking robot 4, the upper platforms of the A-leg mechanism 4.1 and the B-leg mechanism 4.2 (the hip bone planes are staggered by 60 degrees) are connected together to form a pelvis 4.3. The branches of the two thigh mechanisms are on the same level (or on different levels). The thigh branch chains of the two leg mechanisms each occupy a fan-shaped space of about 60 degrees without interfering with each other. The two Y-shaped arch platforms are located at different heights without interfering with each other. Each metatarsal branch occupies a fan-shaped space of about 60 degrees without interfering with each other. The toes on its two leg mechanisms each occupy a fan-shaped space of about 60 degrees. Each toe has independent free working space. This is a hybrid walking robot of inside and outside. The distance between the centers of gravity of the two toe triangles is...

Embodiment 2

[0324] Example 2 ( Figure 27 ) is a hybrid walking robot 4 composed of two hybrid leg mechanisms, one large and one small, and the larger hybrid leg mechanism 4.1 reference Figure 13 , the smaller leg mechanism 4.2 reference Figure 11 . The upper platforms of the two leg mechanisms are connected together to form a pelvis 4.3, the branch chains of the two thigh mechanisms are on the same level, and the pelvis is on another level (also can be on the same level). Thigh branch chain 2.2 all has its own activity space, does not interfere with each other. The two arch platforms are located at the same height, one is a convex triangle, which is larger, and the other is Y-shaped, which is smaller, and the two do not interfere with each other. Each metatarsal branch 1.2 has its own space for movement. If the larger leg mechanism has a larger toe triangle, the toe workspace can be larger. The distance between the centers of gravity of the triangles of the two toes is 0, and the ...

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Abstract

The invention discloses a series-parallel walking robot construction method and a series-parallel walking robot and belongs to the field of walking robots. The series-parallel walking robot comprises a leg mechanism A and a leg mechanism B, one leg mechanism is a series-parallel leg mechanism, and the other leg mechanism is a series-parallel leg mechanism or a foot parallel mechanism. The series-parallel leg mechanism is formed by connecting a thigh mechanism with a foot parallel mechanism in series. The two leg mechanisms have a specific combination of degree of freedom, the upper portions of the two leg mechanisms are fixedly connected together, all components of the two leg mechanisms contain and cross one another and each have an own independent moving space. Toes of the two leg mechanisms are triangular, and the projections of the toes on the horizontal plane are overlapped. When the robot goes forwards, steady walking in any direction can be conducted without adjusting the center of gravity leftwards and rightwards. The number of kinematic pairs of the robot is small, and the height of a robot body is small. The series-parallel walking robot has the advantages of being high in bearing capacity, flexible in steering, high in obstacle crossing ability and uphill and downhill ability, and the like, and can be applied to the service field, the industrial field, the agricultural field, the military field, the spaceflight field and other fields.

Description

technical field [0001] The invention discloses a construction method of a hybrid walking robot and the hybrid walking robot, relates to the improvement of the structure of the existing two-legged walking robot, and belongs to the technical field of walking robots. Background technique [0002] Existing two-leg walking robots mainly contain two kinds of bionic walking robots and non-bionic walking robots. Non-bionic walking robots mainly include the scheme disclosed in Chinese Patent 201010292424.1 (hereinafter referred to as Document 1). In the scheme of this type of walking robot, some have the structure of the generalized mobile pair connected in series below the parallel mechanism (in document 1, the scheme given by claim 10), its common feature is that in the two leg mechanisms, each A leg mechanism is composed of a parallel mechanism and three generalized moving pairs (called lower legs). Since the parallel mechanism itself contains Rx degrees of freedom and Ry degree...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072B62D57/032B25J5/007B25J9/003B25J19/0004
Inventor 韩方元
Owner 韩方元
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