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Series-parallel hybrid robot leg configuration, walking robot and motion method thereof

A walking robot and hybrid mechanism technology, applied in the field of robotics, can solve the problems of small working space, large rotational inertia, easy interference, etc., and achieve the effects of increasing motion space and rotation angle, simple motion control, and increased stability.

Inactive Publication Date: 2018-08-21
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The tandem robot has a simple structure and is easy to control, but its stiffness is small
Parallel robots have high rigidity, high load-to-weight ratio, and high-speed movement, but the structure is complex and easy to interfere
The series-parallel hybrid robot has the advantages of large working space of the serial robot and the high carrying capacity of the parallel robot, but the existing serial-parallel hybrid robots have small working space, large moment of inertia, and interference in the arrangement position of the drive, etc. problem, not suitable for underwater use

Method used

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  • Series-parallel hybrid robot leg configuration, walking robot and motion method thereof
  • Series-parallel hybrid robot leg configuration, walking robot and motion method thereof
  • Series-parallel hybrid robot leg configuration, walking robot and motion method thereof

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Embodiment Construction

[0056] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0057] On the one hand, the present invention provides a leg configuration of a series-parallel hybrid robot, such as Figure 1-4 As shown, it includes a static platform 1, a dynamic platform 3 and a series-parallel hybrid mechanism 2 arranged between the static platform 1 and the dynamic platform 3, wherein:

[0058] The moving platform 3 includes a leg 3-1 and a foot 3-4, the leg 3-1 and the foot 3-4 are connected by a first rotating pair 3-2, and the first rotating pair 3-2 is provided with a second A rotary driver 3-3, the axis of the first rotating pair 3-2 is parallel to the plane where the static platform 1 is located;

[0059] The series-parallel hybrid mechanism 2 includes an active drive branch chain 2-1 and two driven drive branch chains 2-2,...

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Abstract

The invention discloses a series-parallel hybrid robot leg configuration, a walking robot and a motion method thereof, and belongs to the field of robots. The series-parallel hybrid robot leg configuration includes a static platform, a movable platform and a serial-parallel hybrid mechanism; the movable platform includes legs and feet; the legs and the feet are connected through first rotating pairs; first rotating drivers are disposed on the first rotating pairs; the serial-parallel hybrid mechanism includes an active driving branch and two driven driving branches; the active driving branch includes a second rotating driver, a first connecting rod, and a second connecting rod which are successively connected through rotating pairs; the second rotating driver is vertically arranged on oneend of the static platform; a third rotating driver and a fourth rotating driver are arranged on a second rotating pair and a third rotating pair respectively. The series-parallel hybrid robot leg configuration has large movement space, small rotation moment of inertia, flexible movement of the leg mechanisms, can prevent interference, and can realize basic functions such as advancement, turning,obstacle avoidance of the robot, and is suitable for underwater work.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a leg configuration of a series-parallel hybrid robot, a walking robot and a movement method thereof. Background technique [0002] In today's rapid development, the ocean is a blue land, and exploring the ocean has become an important task at present. Therefore, various underwater robots have emerged as the times require, mainly unmanned remote control vehicles (ROV) and untethered underwater vehicles (AUV). Master, but these two kinds of underwater robots can only be used in a weak current environment, and they need to be supported by cables and mother ships. Controlling both robots becomes difficult when subject to strong currents. [0003] Mobile robots include wheeled robots, tracked robots, legged robots, and composite robots. Wheeled robots are suitable for performing tasks on flat terrain and can move at high speeds, but they are not stable and slippery, and are not suit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032B63C11/52
Inventor 马广英刘润晨韩硕陈原高军
Owner SHANDONG UNIV
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