Direct drive type humanoid biped robot

A bipedal robot, direct drive technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of increasing the weight of the mechanism and the difficulty of control, complex structure of the robot, difficult to control, etc., to achieve light weight, simple and convenient control, and easy Processing effect

Active Publication Date: 2020-04-17
SHANGHAI ZHEQIAN APPL TECH CO LTD
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Problems solved by technology

[0003] At present, most biped robots use motors with harmonic reducers or self-developed high-torque motors (Atlas uses hydraulic transmission) in order to achieve smooth gait walking or even running and jumping movements, and there are timing belts inside the mechanism. , gears and other transmission links, which will inevitably make the robot complex in structure, large in size, heavy in quality, hig

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  • Direct drive type humanoid biped robot
  • Direct drive type humanoid biped robot
  • Direct drive type humanoid biped robot

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Embodiment Construction

[0025] In order to make the technical means, creative features, goals and effects of the present invention easy to understand, the present invention will be further elaborated below in conjunction with specific illustrations. In the description of the present invention, it should be noted that unless otherwise specified and Limitation, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, it can also be a detachable connection, or an integral connection can be a mechanical connection or an electrical connection; it can be It can be directly connected, or indirectly connected through an intermediary, and can be connected internally between two components.

[0026] Such as Figure 1-6 As shown, a direct-drive humanoid biped robot includes a single-leg structure, and the single-leg structure is two groups of symmetrical single-leg structures, and the single-leg structure includes a two-degree-of-f...

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Abstract

The invention provides a direct drive type humanoid biped robot, including two groups of symmetrical single-leg structures, wherein the single-leg structure comprises a two-degree-of-freedom hip jointthigh structure, a thigh and shank structure containing a single-degree-of-freedom knee joint and an under-actuated ankle joint structure; the two-degree-of-freedom hip joint thigh structure is connected with the thigh and shank structure containing the single-degree-of-freedom knee joint; and the thigh and shank structure containing the single-degree-of-freedom knee joint is connected with the under-actuated ankle joint structure. According to the invention, a micro linear motor directly driving moving part is used so that a swing guide rod mechanism is formed; the structure is simple and compact, efficiency is high, the overall size is small, the weight is light, parts are easy to machine, and the cost is low; the robot comprises a pair of two-degree-of-freedom hip joint thigh structures, a pair of single-degree-of-freedom knee joint thigh and shank structures and a pair of under-actuated ankle joint structures, that is, the whole robot is controlled by six motors, and a single legis controlled by only three motors, so that the robot is simple and convenient to control.

Description

technical field [0001] The invention relates to the technical field of biped robot structure design, in particular to a direct-drive humanoid biped robot. Background technique [0002] Biped robot technology is an advanced development stage of robot technology. It is a cutting-edge technical field integrating multiple disciplines such as mechanism kinematics and dynamics, materials science, computer, sensor technology, modern control theory, and bionics. Nowadays, various biped robots have been successfully developed at home and abroad, such as Honda's ASIMO, Boston Dynamics' Atlas, AgilityRobotics' Cassie, UBTECH's Walker, and so on. [0003] At present, most biped robots use motors with harmonic reducers or self-developed high-torque motors (Atlas uses hydraulic transmission) in order to achieve smooth gait walking or even running and jumping movements, and there are timing belts inside the mechanism. , gears and other transmission links, which will inevitably make the ro...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 毛惟谦牛晓凤
Owner SHANGHAI ZHEQIAN APPL TECH CO LTD
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