Hybrid mechanical leg and its control method

Abstract

The invention discloses a hybrid mechanical leg and its control method, and relates to the technical field of a robot. The hybrid mechanical leg comprises a fixing top panel, a hip joint, a thigh, a knee joint, a shank and a foot which are orderly connected from top to bottom; the hip joint comprises three groups of ball hinge components; the thigh is a parallel linking structure and comprises a thigh supporting bracket and two electric cylinders; the thigh supporting bracket is connected with one ball hinge connectors, and two electric cylinders are connected with another two ball hinge connectors; the lower ends of the electric cylinders are connected with the thigh supporting bracket through an electric cylinder fixing frame, and the flexible change of the electric cylinders drives thethigh supporting bracket to act, thus the pitching motion and the rolling motion of the thigh are realized. The hybrid mechanical leg has the beneficial effects that the mechanical leg is simple in structure, reasonable in design, and high in flexibility, and provides a basis for the study of a multi-foot robot.

Description

technical field [0001] The invention relates to the field of robots, in particular to a hybrid mechanical leg and a control method thereof. Background technique [0002] Robotics is one of the most active research fields in recent years. According to different movement modes, robots can be divided into wheeled, tracked and footed robots. Compared with wheeled and tracked robots, footed robots have good environmental adaptability and can move in complex environments such as potholes, rocks, grasslands, and rugged mountains, and can help people complete rescue and exploration in dangerous environments Task. In the military, footed robots can not only carry materials on the battlefield, but also carry military reconnaissance and combat equipment to assist soldiers in combat. Therefore, the design and development of legged robots have broad application prospects. However, the mechanical legs of the existing legged robots are not flexible enough, the design is not simple enoug...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a hybrid mechanical leg and its control method, to solve the problem that the existing mechanical leg is not flexible enough, and there is no method for accurately controlling the motion trajectory of the mechanical leg, and to provide a basis for the research of multi-legged robots

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