The invention discloses a biped robot for improving weight distribution of legs. A hip frame body is fixedly connected to the center of the bottom of a waist frame body; the upper end of the thigh frame body is connected with the hip frame body through a motor direct drive type hip joint assembly, the lower end of the thigh frame body is connected with the upper end of the shank supporting rod through a knee joint assembly, and the lower end of the shank supporting rod is connected with the upper surface of the foot supporting plate through an ankle joint assembly; a leg bending and stretching driving assembly is arranged between the thigh frame body and the shank supporting rod; a foot pitching and deflection driving assembly is arranged between the thigh frame body and the foot supporting plate. Driving motors of knee joints and ankle joints are moved upwards to thighs, the knee joints and the ankle joints are driven by the driving motors in a connecting rod transmission mode, the weight of shanks and rotational inertia of the shanks are reduced, and in the dynamic walking process of the biped robot, the gravity center regulation and control difficulty is reduced, and the walking posture stability of the biped robot is improved; the balance between the movement performance of the shank and the lightweight requirement is realized.
一种改善腿部重量分布的双足机器人,髋部框架体固连在腰部框架体底部中心处;大腿部框架体上端与髋部框架体之间通过电机直驱式髋关节组件相连,大腿部框架体下端与小腿部支撑杆上端通过膝关节组件相连,小腿部支撑杆下端与足部支撑板上表面之间通过踝关节组件相连;在大腿部框架体与小腿部支撑杆之间设有腿部屈伸驱动组件;在大腿部框架体与足部支撑板之间设有足部俯仰与偏摆驱动组件。本发明将膝关节和踝关节的驱动电机上移至大腿部位,通过连杆传动方式实现驱动电机对膝关节和踝关节的驱动,降低小腿重量和小腿转动惯量,在双足机器人动态行走过程中,降低重心调控难度,提高双足机器人行走姿态稳定性,实现小腿运动性能与轻量化需求的平衡。
Biped robot capable of improving weight distribution of legs
一种改善腿部重量分布的双足机器人
04.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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