Serial and parallel mixed connection arm/leg mechanism for prosthetic robot fore limb mechanical system

Abstract

The invention relates to a serial and parallel mixed connection arm / leg mechanism for a prosthetic robot fore limb mechanical system. The serial and parallel mixed connection arm / leg mechanism comprises mechanism bodies, hip joints and landing legs; and the two mechanism bodies are fixedly connected side by side to form mechanism main bodies, the two ends of each mechanism main body are provided with the hip joints, and the lower portion of each hip joint is connected with one landing leg. The serial and parallel mixed connection arm / leg mechanism comprises a mechanism body part, hip joint parts and landing leg parts, movement of six poles can obtain transverse motion, pitching and yawing of the hip joints in all directions, and the work space and the joint flexibility of the series leg parts are improved. The hip joint structure adopts double motors of big and small legs, the coaxial structure is achieved through thigh planet carriers, the rotation accuracy of swing rotation of the big and small legs can be improved when the leg part moves, and meanwhile the walking stability can be improved.

Description

Technical field [0001] The invention relates to the field of intelligent robots, in particular to a series-parallel hybrid arm / leg mechanism used in the forelimb mechanical system of a bionic robot. Background technique [0002] With the increasing development of science and technology, there are more and more applications of footed robots, and people have higher and higher requirements for their work performance. In the field of precision manufacturing, many jobs require not only robots with dexterous hands, but also robots with flexible and precise arms / legs. However, although the mechanical arm / leg of the tandem structure is simple in structure and convenient to control, its rigidity is low. Parallel robots have high rigidity, large load-to-weight ratio, and can move at high speeds, but the control is complex, the working space is small and interference is easy. These problems make the robot's motion stiff in the working process, the reachable position is restricted by the f...

AI Technical Summary

Problems solved by technology

In China, there is a series-parallel hybrid robot leg configuration designed by Ma Guangying of Shandong University. The structure is simple, but the working space of one leg is relatively small, which makes the ability to cross obstacles limited.

The concept of quadruped / biped reconfigurable walker proposed by Wang Hongbo of Yanshan University et al. The leg structure has a large rigidity, which can improve the load-to-weight ratio of the robot, but the working space of the mechanism itself is limited, and it is difficult to complete outdoor multi- Terrain Walking and Obstacle Operations

Images