The invention discloses a closed chain leg mechanism of a walking robot and a foot end track control method of the closed chain leg mechanism, and relates to the technical field of robots, the leg mechanism comprises a first third pair of components, a second third pair of components, a third third pair of components, a first second pair of components, a second second pair of components, a third second pair of components, a fourth second pair of components and a fifth second pair of components, the first three-pair component is used as a body of the robot, and the fifth two-pair component is used as a foot of the robot; and the foot end p of the fifth secondary component is a free end and is in contact with the ground. The invention further provides a foot end track control method of the walking robot, predetermined walking movement can be achieved only through 360-circle rotation of one driving link, and control is easy and convenient; the robot leg mechanism comprises a composite hinge, kinematics analysis of the mechanism is facilitated, the occupied space of the leg structure is reduced, the structure is compact, and the size, weight and manufacturing cost of the robot leg mechanism are reduced. The walking movement requirements of the legs of the robot are met, and the excellent comprehensive performance is achieved.
本发明公开了一种行走机器人的闭链腿部机构及其足端轨迹控制方法,涉及机器人技术领域,腿部机构包括第一三副构件、第二三副构件和第三三副构件以及第一二副构件、第二二副构件、第三二副构件、第四二副构件和第五二副构件,第一三副构件用于作为机器人的机身,第五二副构件用于作为机器人的足部;第五二副构件的足端p为自由端,并与地面接触。本发明还提供了行走机器人的足端轨迹控制方法,仅需一个原动件作360º整周转动,即可实现预定的行走运动,控制简便;包含一个复合铰链,便于机构的运动学分析,减少腿部结构所占空间,结构紧凑,有利于降低机器人腿部机构的尺寸、重量和制造成本;满足机器人腿部的行走运动需求,具有优异的综合性能。
Closed chain leg mechanism of walking robot and foot end track control method of closed chain leg mechanism
一种行走机器人的闭链腿部机构及其足端轨迹控制方法
18.02.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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