The invention relates to a six-degree-of-freedom flexible spine of a foot type robot and a variable stiffness damping control method of the six-degree-of-freedom flexible spine of the foot type robot, and the flexible spine comprises a front supporting frame (2), a rear supporting frame (3) and a rear supporting frame (4), the rear support frame (5) is provided with a second spherical hinge base (4-2); the two ends of each hydraulic damping actuator (3) are connected with the first spherical hinge base (4-1) and the second spherical hinge base (4-2) respectively; each hydraulic damping actuator (4) is obliquely arranged between the front supporting frame (2) and the rear supporting frame (5), and the adjacent hydraulic damping actuators (4) are arranged in a mirror symmetry mode. And the hydraulic damping actuator (4) comprises an oil cylinder actuating part and a damping part which are connected with each other. Compared with the prior art, six-degree-of-freedom movement such as relative torsion, swinging and translation of the front supporting frame and the rear supporting frame is achieved, the flexibility of a machine body of the foot type robot is improved, and the foot type robot can adapt to various complex terrains.
本发明涉及一种足式机器人六自由度柔性脊柱及其变刚度阻尼控制方法,该柔性脊柱包括:前支撑架(2),设有第一球铰链底座(4‑1);后支撑架(5),设有第二球铰链底座(4‑2);六个液压阻尼执行器(3),每个液压阻尼执行器(3)的两端分别连接所述第一球铰链底座(4‑1)及第二球铰链底座(4‑2);每个所述液压阻尼执行器(4)斜置于前支撑架(2)和后支撑架(5)之间,相邻所述液压阻尼执行器(4)镜像对称布置;所述液压阻尼执行器(4)包括相连的油缸执行部和阻尼部。与现有技术相比,本发明实现了前后支撑架相对扭转、摆动、平移等六自由度运动,提高足式机器人机身的灵活性,使足式机器人能够适应各类复杂的地形。
Six-degree-of-freedom flexible spine of foot type robot and variable stiffness damping control method thereof
足式机器人六自由度柔性脊柱及其变刚度阻尼控制方法
2024-06-21
Patent
Electronic Resource
Chinese
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