The invention provides a three-degree-of-freedom driving mechanism and a robot, and the three-degree-of-freedom driving mechanism comprises a U-shaped connecting piece which is provided with a U-shaped space; a rotating mechanism, wherein a rotating output shaft of the rotating mechanism is connected to the U-shaped bottom and used for driving the U-shaped connecting piece to rotate; a side swingmechanism which is fixed on one side, back to the U-shaped space, of one U-shaped side part; and a front swing mechanism which is arranged in the U-shaped space, is rotationally connected to the U-shaped side part and is driven by the side swing mechanism to swing laterally; every two of a rotating output shaft of the rotating mechanism, a side-sway output shaft of the side-sway mechanism and a front-sway output shaft of the front-sway mechanism form an included angle. According to the three-degree-of-freedom driving mechanism and the robot, the rotating mechanism, the side swing mechanism andthe front swing mechanism are all integrated on the U-shaped connecting piece, the driving mechanism does not need to be arranged on a thigh structural piece, the mass center of the legs of the robotcan be improved, and driving force needed by leg joints is reduced.
本发明提供了一种三自由度驱动机构及机器人,三自由度驱动机构包括:U形连接件,其具有U形空间;旋转机构,其旋转输出轴连接于U形底部且用于驱动U形连接件旋转;侧摆机构,固定于其中一个U形侧部的背向U形空间一侧;以及前摆机构,设于U形空间内且转动连接于U形侧部,前摆机构由侧摆机构驱动侧摆;旋转机构的旋转输出轴、侧摆机构的侧摆输出轴、前摆机构的前摆输出轴两两呈夹角设置。本发明提供的三自由度驱动机构及机器人,旋转机构、侧摆机构和前摆机构均集成于U形连接件,驱动机构无需设置在大腿结构件上,可以提高机器人腿部的质心,减小腿部关节所需的驱动力。
Three-degree-of-freedom driving mechanism and robot
三自由度驱动机构及机器人
2021-01-15
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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