The invention discloses a 10-degree-of-freedom robot with two feet. The 10-degree-of-freedom robot comprises a left leg, a right leg, a hip structure located on the left leg and the right leg and an upper robot body located on the hip structure. The left leg and the right leg drive the feet connected with the left leg and the right leg to swing back and forth around knee joints and to swing back and forth, swing left and right and rotate inside and outside around hip joints in a series-parallel connection mode. A third hip joint motor for driving a leg to swing back and forth and a knee joint motor are coaxially arranged, an ankle joint motor is fixed on a thigh and is adjacent to the knee joint motor, and the ankle joint motor and the knee joint motor form a parallel mechanism to drive a foot to move; the robot with the layout is compact in overall structure, the driving motors of the joints serve as high-density components of the robot and are concentrated in the hip area, the mass of the legs is distributed on the upper sides of the thighs in a concentrated mode, the mass of the tail ends is light, the rotational inertia of the overall legs is small, and therefore the movement performance of the robot is improved.
本发明公开了一种10自由度两足的机器人,包括左腿、右腿、位于左腿和右腿之上的髋部结构和位于髋部结构之上的上机身;左腿和右腿采用了串并混联方式驱动其连接的足部做绕其膝关节前后摆摆动和髋关节前后摆动、左右摆动和内外旋转运动;本发明将带动腿部做前后摆动运动的第三髋关节电机与膝关节电机同轴布局,踝关节电机固定在大腿上,且紧邻膝关节电机,踝关节电机与膝关节电机形成并联机构驱动足部运动;这种布局的机器人整体结构紧凑,各关节的驱动电机作为机器人的高密度部件,集中在髋部区域,使得腿部的质量集中分布在大腿上侧,末端质量轻,整体腿部转动惯量小,从而提高机器人本身的运动性能。
10-degree-of-freedom two-foot robot
一种10自由度两足的机器人
2024-10-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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