The invention provides a light small-inertia humanoid robot leg structure, and belongs to the field of humanoid robot leg structures. The problems that an existing humanoid robot is not compact enough in leg layout, high in structural complexity and large in total weight are solved. The robot comprises a hip joint structure, a knee joint structure and an ankle joint structure, the motion end of a joint, responsible for pitching motion, of the hip joint structure is connected with the fixed end of a joint, responsible for rolling motion, of the hip joint structure through a special-shaped connecting plate, and the motion end of the joint, responsible for rolling motion, of the hip joint structure is connected with the fixed end of a joint, responsible for yawing motion, of the hip joint structure through an open type connecting plate. A knee joint fixing end of the knee joint structure is connected with a joint movement end responsible for yawing movement through a thigh connecting plate, and the knee joint movement end is connected with a shank connecting plate. Only two joints are arranged, modular design is achieved, the structure is simple, the effect of reducing the production cost and the design cost can be achieved, meanwhile, the joints can be freely replaced, the control difficulty is greatly reduced, and the error-tolerant rate of leg movement is increased.
本发明提出了一种轻质小惯量人形机器人腿部结构,属于人形机器人腿部结构领域。解决了现有人形机器人腿部布局不够紧凑,结构复杂度高和总重大的问题。它包括髋关节结构、膝关节结构和踝关节结构,髋关节结构的负责俯仰运动的关节的运动端和负责翻滚运动的关节的固定端通过异形连接板连接,负责翻滚运动的关节的运动端和负责偏航运动的关节的固定端通过开放式的连接板连接,膝关节结构的膝关节固定端经由大腿连接板与负责偏航运动的关节运动端连接,膝关节运动端与小腿连接板连接。本发明中仅有两种关节,实现了模块化设计,结构简单,可起到降低生产成本和设计成本的作用,同时,关节可自由替换,控制难度也大幅降低,提高了腿部运动的容错率。
Lightweight small-inertia humanoid robot leg structure
一种轻质小惯量人形机器人腿部结构
2024-12-03
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |