CN101973027A - Method for connecting parallel connection walking robots and parallel connection walking robot thereof - Google Patents

Method for connecting parallel connection walking robots and parallel connection walking robot thereof Download PDF

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CN101973027A
CN101973027A CN 201010292424 CN201010292424A CN101973027A CN 101973027 A CN101973027 A CN 101973027A CN 201010292424 CN201010292424 CN 201010292424 CN 201010292424 A CN201010292424 A CN 201010292424A CN 101973027 A CN101973027 A CN 101973027A
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leg
arch
foot
parallel
pair
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CN101973027B (en
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韩方元
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韩方元
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Abstract

The invention provides a method for connecting parallel connection walking robots and a parallel connection walking robot thereof. The parallel connection walking robot mainly comprises two parallel connection mechanisms, wherein each parallel connection mechanism also comprises an upper platform, a lower platform and three or more branch chains for connecting the upper platform with the lower platform. The parallel connection walking robot is characterized in that the two parallel connection mechanisms have specific freedom degree combinations, and the sum of freedom degrees is larger than or equal to 7; the upper platforms of the two parallel connection mechanisms are fixedly connected together, and the distance between projections of the hip joint polygonal centers of the two parallel connection mechanisms on the horizontal plane is smaller than or equal to 0.8 (Ra+Rb); and the lower platforms of the two mechanism respectively comprise two mutual independent foot arches. The robot can stably walk without adjusting the gravity center left and right in the advancing process, has the advantages of three-toe standing, high rigidity, high carrying capacity, flexible steering, high obstacle climbing capability, and the like, can be used for works, such as survey, rescue, exploration, and the like and can be also used for a manipulator.

Description

A kind of method of attachment of walking robot in parallel and walking robot in parallel thereof

Technical field

The present invention discloses a kind of method of attachment and walking robot in parallel thereof of walking robot in parallel, relates to the improvement of existing both legs walking robot structure, belongs to the parallel robot technical field.

Background technology

The walking robot made from many rings parallel institution, for example, the lower part of the body module (China Patent No. is 03826959.7) etc. of bipod walking robot that the high western pure husband's invention of WL series two feet walking robot havings and Japan of all parallel institutions that Japanese Waseda University began to develop in 1972 is arranged.The structure of this class walking robot is as shown in Figure 1 and Figure 2: during the parallel institution motion, moving platform has an extreme higher position, and an extreme lower position is arranged, and certain position in the middle of extreme higher position and extreme lower position is called the neutral position.For example, for 6SPS sterwart platform, when the P pair is elongated to half position, just can be a neutral position.

This class walking robot is made up of left and right two six degree of freedom space parallel mechanisms arranged side by side.Single parallel institution all is the stewart platform.Each parallel institution all is made up of with six side chain 2p that are connected lower platform upper mounting plate 1p, lower platform 3p.Six side chains are SPS type (two bars, three pairs).Left side parallel institution and identical, the left-right symmetry of right side parallel institution size.All be chamfered edge platform shape (upper mounting plate is big, lower platform less), two parallel institution upper mounting plate height are identical, and two upper mounting plates are fixed together.The left side parallel institution all is the parallel institution (each side chain is all identical) of symmetry with the right side parallel institution.

With the left side parallel institution is example.The upper mounting plate of left side parallel institution is hexagon (line of six hip joint mount pads is hexagons) platform 1p, the bottom is triangle (triangle that the line of three groups of ankle-joints forms) platform 3p, upper mounting plate has six hip joint mount pads (representing with ellipse on the vertical view), is distributed on six angles of upper mounting plate framework 1.2p.The S pair (ball pair) of side chain upper end is hip joint 1.3p, is installed in respectively on six hip joint mount pad 1.1p of upper mounting plate.Be connected by connecting rod 1.6p between the S pair (ball pair) of side chain upper end and the P pair, be connected by connecting rod 1.7p between the S pair of side chain lower end (ball pair) and the P pair.Lower platform has three ankle-joint compound spherical hinge mount pads, be distributed on leg-of-mutton three angles, S pair (ball pair) 1.5p of six SPS type side chain lower ends, grouping is installed in respectively on three ankle-joint mount pad 1.8p (representing with circle on the vertical view) of lower platform in twos.The S pair of side chain lower end (ball pair) is ankle-joint 1.5p, uses compound spherical hinge, the shared compound spherical hinge of two ball pairs (ankle-joint).The below of three ankle-joint mount pad 1.8p is sole 1.9p.Secondary 1.4p of P is a driving pair, and six P pairs make a parallel institution obtain six-freedom degree.

Left side parallel institution and right side parallel institution are divided right and left, and the two does not intersect mutually, non-overlapping copies.The lower platform (sole) of left side parallel institution and right side parallel institution is divided right and left, and keeps suitable distance.The projection of sole polygon on horizontal plane of two leg mechanisms in parallel do not have intersection.

This class walking robot, from it the structure of dividing right and left as can be seen, its total shortcoming is:

1, the center of gravity of robot is between two legs, and when both legs were stood, center of gravity dropped between two soles.The projection of toe polygon on horizontal plane of two leg mechanisms in parallel do not have intersection.One pin lifts, and does not do the center of gravity adjustment, will fall down, and is overall stressed bad.During walking, a pin lifts, and is in trip pin phase, suitably moves about center of gravity is wanted, and moves on in the stable triangle (polygon) of the phase leg of keeping a foothold, and just can take a step forward.During walking, the track of center of gravity is a S shape.2, below the sole be the plane basically, sole is that face contacts with ground, to the uneven road surface bad adaptability.For example, a small stone is arranged on the road surface of temporary lodging, pin just can't be stood.The analysis showed that 3, this class walking robot is realized the most basic walking movement, single leg will have 4 frees degree, and two legs will have 10 frees degree, and the free degree that needs is more.Though 4, sole is divided right and left, and kept suitable distance, left and right directions to move one's steps still being restricted and mutual interference mutually.For preventing the phase mutual interference, control corresponding is complicated.The present invention can reach following purpose: method of attachment and parallel robot that the parallel robot that links together that a kind of parallel institution with specific lower platform structure and two parallel institutions can cross one another, comprise mutually is provided.Provide a kind of when walking forward, center of gravity is adjusted about not, can realize the walking robot of stable state walking.As operator, stressed good, can finish various complex operations.Provide a kind of sole bigger, arch of foot or very big space are arranged between the toe, to the adaptable robot of not gentle soft surface.Provide a kind of the most basic walking movement that realizes, the less robot of the free degree that needs.Provide a kind of control simple, two legs do not have the robot of interference mutually.A kind of have the attitude adjustable range of broad, abrupt slope or stair robot easily up and down are provided.

Summary of the invention

The present invention discloses a kind of method of attachment of walking robot in parallel, adjusts the shortcoming of center of gravity about needing when having solved existing many ring parallel institution walking robots walking.

The present invention also provides the robot that realizes said method, does not adjust about center of gravity does not need when walking forward.

The method of attachment solution of walking robot in parallel of the present invention is as follows:

Two parallel institutions of A, B are connected one constitute robot, each parallel institution comprises upper mounting plate, lower platform and the side chain more than three or three that connects upper mounting plate, lower platform, it is characterized in that the method for attachment of two parallel institutions comprises:

(1), described parallel institution should meet following condition:

The free degree sum of a, two parallel institutions is more than or equal to 7; B, each parallel institution all must comprise the free degree and the rotational freedom that rotates around Y-axis that rotate around X-axis at least; In c, two parallel institutions, also must comprise one at least and be called the free degree of rotating around the Z axle that turns to the free degree; In d, two parallel institutions, at least on a parallel institution, also must have at least one along the free degree of X-direction translation with along the combination of Z-direction translation freedoms or along the free degree of Y direction translation and combination along the Z-direction translation freedoms;

(2) upper mounting plate of A, two parallel institutions of B is fixed together, and distance between two projections of the polygonal center of parallel institution hip joint on horizontal plane and correlation are a kind of in following two kinds of situations:

The projector distance of the polygonal center of the hip joint of a, two parallel institutions on horizontal plane is 0 or smaller or equal to 0.25 (Ra+Rb), and from vertical view, the lateral dimension that promptly only compares two parallel institutions, a described parallel institution is bigger than another parallel institution, less parallel institution is interior, and bigger parallel institution outside; The distance of the polygonal center of the hip joint of b, two parallel institutions between the projection on the horizontal plane more than or equal to 0.25 (Ra+Rb) smaller or equal to 0.8 (Ra+Rb), wherein

Ra is the radius of a circle that can comprise the minimum of all toes of A parallel institution;

Rb is the radius of a circle that can comprise the minimum of all toes of B parallel institution;

(3), the lower platform of A, two parallel institutions of B by two independent mutually, do not have the arch of foot that interferes with each other and do not interfere with other side chain and constitute, arch of foot comprises arch arm, ankle-joint mount pad, toe; Arch of foot and the arch of foot on the interior leg on the outer leg of two mutually noninterferes constitute a pair of arch of foot pair, wherein, if the polygonal inside of the toe of A parallel institution comprises one or more toes of B parallel institution, so, the A parallel institution is called outer leg, and the B parallel institution is called interior leg.The arch of foot pair is a kind of in following four kinds of arch of foot pairs:

A, outer leg are the cohesive type arch of foots, and interior leg is the cohesive type arch of foot;

B, outer leg are the cohesive type arch of foots, and interior leg is an abduction formula arch of foot;

C, outer leg are abduction formula arch of foots, and interior leg is the cohesive type arch of foot;

D, outer leg are abduction formula arch of foots, and interior leg is an abduction formula arch of foot;

And each all will satisfy one of following condition: a, an arch of foot height to the arch of foot pair, and an arch of foot is low, and b, two arch of foots are equally high.

Realize the walking robot in parallel of said method, constitute that each parallel institution comprises upper mounting plate, lower platform and the side chain more than three or three that connects upper mounting plate, lower platform again, it is characterized in that by two parallel institutions of A, B:

(1), described parallel institution should meet following condition:

The free degree sum of a, two parallel institutions is more than or equal to 7;

B, each parallel institution all must comprise the free degree and the rotational freedom that rotates around Y-axis that rotate around X-axis at least;

In c, two parallel institutions, also must comprise one at least and be called the free degree of rotating around the Z axle that turns to the free degree;

In d, two parallel institutions, at least on a parallel institution, also must have at least one along the free degree of X-direction translation with along the combination of Z-direction translation freedoms or one along the free degree of Y direction translation with combination along the Z-direction translation freedoms;

(2) upper mounting plate of A, two parallel institutions of B is fixed together, and distance between the projection of the polygonal center of the hip joint of two parallel institutions on horizontal plane and correlation are a kind of in following two kinds of situations:

The projector distance of the polygonal center of the hip joint of a, two parallel institutions on horizontal plane is 0 or smaller or equal to 0.25 (Ra+Rb), and from vertical view, the lateral dimension that promptly only compares two parallel institutions, a described parallel institution is bigger than another parallel institution, less parallel institution is interior, and bigger parallel institution outside;

The distance of the polygonal center of the hip joint of b, two parallel institutions between the projection on the horizontal plane more than or equal to 0.25 (Ra+Rb) smaller or equal to 0.8 (Ra+Rb); Wherein

Ra is the radius of a circle that can comprise the minimum of all toes of A parallel institution;

Rb is the radius of a circle that can comprise the minimum of all toes of B parallel institution;

(3), the lower platform of A, two parallel institutions of B by two mutually independent, do not have the arch of foot that interferes with each other and do not interfere with other side chain and constitute, arch of foot comprises arch arm, ankle-joint mount pad, toe, and arch of foot and the arch of foot on the interior leg on the outer leg of two mutually noninterferes constitute a pair of arch of foot pair; The arch of foot pair is a kind of in following four kinds of arch of foot pairs:

A, outer leg are the cohesive type arch of foots, and interior leg is the cohesive type arch of foot;

B, outer leg are the cohesive type arch of foots, and interior leg is an abduction formula arch of foot;

C, outer leg are abduction formula arch of foots, and interior leg is the cohesive type arch of foot;

D, outer leg are abduction formula arch of foots, and interior leg is an abduction formula arch of foot;

And, each to the arch of foot pair all to satisfy one of following condition: a, an arch of foot is higher, an arch of foot is lower; B, two arch of foots are equally high.

Described walking robot in parallel is characterized in that: the arch of foot of described two parallel institutions is a kind of in following three kinds of arch of foots:

(1), plane arch of foot;

(2), convex arch of foot;

(3), matrix arch of foot.

Described walking robot in parallel is characterized in that: the phase place of described two parallel institutions is a kind of in following four kinds:

(1), the phase difference of two parallel institutions value between the 0-10 degree;

(2), the phase difference of two parallel institutions value between the 50-70 degree;

(3), the phase difference of two parallel institutions value between the 80-100 degree;

(4), the phase difference of two parallel institutions value between the 170-190 degree.

Described many rings walking robot in parallel is characterized in that: described A leg mechanism in parallel is select from 6DOF, 5DOF, 4DOF, 3DOF, 2DOF parallel institution a kind of; Described B leg mechanism in parallel is select from 6DOF, 5DOF, 4DOF, 3DOF, 2DOF parallel institution a kind of.

Described walking robot in parallel is characterized in that: the side chain of described two parallel institutions all is or mainly is that a kind of or leg in the following side chain form uses a kind of side chain that another leg uses another kind of side chain:

(1), the SPS side chain, be the ball pair from top to bottom successively, moving sets, ball pair;

(2), the PSS side chain, be moving sets from top to bottom successively, ball pair, ball pair;

(3), the RSS side chain, be revolute pair from top to bottom successively, ball pair, ball pair;

(4), the SRS side chain, be the ball pair from top to bottom successively, revolute pair, ball pair.

Described walking robot in parallel is characterized in that: described two leg mechanisms in parallel can be stage body formula parallel institutions, also can be platform-type parallel institutions, and perhaps a parallel institution is a stage body formula structure, and another parallel institution is platform-type structure.

Described walking robot in parallel is characterized in that: the shape of described parallel institution is one of following three kinds of shapes:

(1) column parallel institution,

(2) positive terrace with edge shape parallel institution,

(3) chamfered edge platform shape parallel institution.

Described walking robot in parallel is characterized in that: described toe is six, is divided into two groups, and same group of toe comprises two toes on the parallel institution, three every group, is arranged on two parallel lines.

Described walking robot in parallel is characterized in that: the bottom of described arch of foot, and the broad sense moving sets that is installed in series at least, the axis of broad sense moving sets is vertical with the upper mounting plate plane.

Described walking robot in parallel is characterized in that: described two upper mounting plates are fixed on the pedestal, and the lower platform of two parallel institutions is unsettled, are connected with end effector on the lower platform respectively, and the free degree sum of two parallel institutions is more than or equal to 9.

Describe the noun and relevant structure that the present invention relates to below in detail.

Coordinate system of the present invention is to set up like this: coordinate system XY plane is a horizontal plane, and the Z axle is perpendicular to horizontal plane, and the origin of coordinates is positioned at the polygonal geometric center in ankle (hip) joint.The ankle-joint polygon is to connect the polygon that ankle-joint forms successively.

The free degree and combination thereof:

Not all parallel institution may be used to the present invention.For example lack one or two parallel institution and can not be used for the present invention around the trunnion axis rotational freedom, specifically, 3T1R, 3T0R (T: translation freedoms, R: rotational freedom, 3T1R represents to have the parallel institution of three one-movement-freedom-degrees, a rotational freedom, down together) can not be used for the present invention certainly.Moreover, two parallel institutions also will have specific degrees of freedom combination could constitute the present invention.Some parallel institution, though two degrees of freedom combination of rotating around trunnion axis are also arranged, for example, two 3T2R parallel institutions just can not be formed walking robot, because, lacking and turn to the free degree, robot can only keep straight on, and can not turn round.

Under the specific design of the present invention, parallel robot is finished a walking movement the most basic, condition at least is, free degree sum is greater than and equals 7, also specific degrees of freedom combination will be arranged: each leg all will have upright function, two degrees of freedom combination of rotating around trunnion axis are arranged, to adapt to uneven road surface; Two legs will have one to turn to the free degree (maximum two) at least, and two legs also will have the degrees of freedom combination of moving one's steps (maximum four) at least.The combination of the free degree of moving one's steps should be on a leg.

Can finish the requirement that adapts to uneven road surface around two rotational freedoms that X-axis, Y-axis are rotated, promptly on various road surface, upper mounting plate can keep level, so be called upright degrees of freedom combination, is called for short the upright free degree.Along Z to one-movement-freedom-degree can finish the function of lifting the step and adapting to differing heights ground, so along Z to one-movement-freedom-degree call and lift the step free degree.Around the free degree that the Z axle rotates, be called and turn to the free degree.Have the free degree of rotating, but then turn in this mechanism original place or the motion, promptly turn to the free degree to finish and turn to and turning function around the Z axle.Turn to the free degree can be distributed in the A parallel institution, also can be distributed on the B parallel institution.Two parallel institutions also can all turn to the free degree.On leg lift the step free degree and a degrees of freedom combination that moves horizontally is called the degrees of freedom combination of moving one's steps, be called for short the free degree of moving one's steps.The degrees of freedom combination of moving one's steps can be finished a basic motion of moving one's steps.Have X to the free degree of translation, cooperate and lift the step free degree, then can be to X to moving; Have Y to the free degree of translation, cooperate and lift the step free degree, then can be to Y to moving.The free degree of promptly moving one's steps is finished and is advanced or fallback function.

A six-degree-of-freedom parallel connection mechanism has a upright degrees of freedom combination, and one turns to the free degree, two degrees of freedom combination of moving one's steps.But six-degree-of-freedom parallel connection mechanism both the original place or the motion in turn to, can not turn to the motion of just finishing to any direction again.Two robots that six-degree-of-freedom parallel connection mechanism is formed can do any type of walking movement.

The robot of the different number frees degree has different walking movements or ability to work.

Robot, the free degree that contains the 0T2R parallel institution equals the parallel robot that robot, the free degree that 7 (5+2) or the free degree equal the robot of 8 (6+2) and contain the 0T3R parallel institution equal 7 (4+3), 8 (5+3) or 9 (6+3), is merely able to carry out intermittently walking movement of wave.

The robot that contains the 1T2R parallel institution, the free degree equals the robot of 8 (5+3) or 9 (6+3) and contains the robot of 1T3R parallel institution, and the free degree equals the parallel robot of 8 (4+4), 9 (5+4) or 10 (6+4), can carry out the walking movement at intermittence.

12 free degree walking robots that two 6DOF parallel institutions are made are one of preferred plan, can do any type of walking movement.

About axis and hip joint polygon:

The dead in line of two leg mechanisms in parallel or closer apart is inside and outside formula walking robot.The axis spacing of two parallel institutions is called the gauche form walking robot greater than 0.25 (Ra+Rb), less than 0.8 (Ra+Rb).

The axis of parallel institution was meant the polygonal center of hip joint (or ankle-joint) and perpendicular to the straight line of hip joint polygon plane.The toe triangle and the ankle-joint polygon of same leg mechanism in parallel overlap (toe is under ankle-joint) substantially in the projection on the horizontal plane, perhaps overlap area big (toe is between two ankle-joints).

About Ra, Rb and hip joint polygon, accurate triangle:

All in one plane usually, as the toe of end effector.Especially, when three toes, Ra is the leg-of-mutton circumradius of A legs and feet toe, and Rb is the leg-of-mutton circumradius of B legs and feet toe.When toe is not triangular arrangement, for example, the Eight characters, hexagon or quadrangle, above-mentioned circumscribed circle is meant the circle of the minimum that can comprise all toes.

As a rule, for parallel institutions such as 6SPS, each hinged point (hip joint mount pad) of the upper mounting plate on parallel institution can be divided into three groups, every group of maximum two side chains, be distributed in respectively near leg-of-mutton three summits, form accurate triangular arrangement.Accurate triangular platform is divided into groups 6 hinged points exactly in twos, two ball pivots of same group (or U hinge) are guaranteeing that distance is fully little under the hands-off prerequisite, and so, three groups of hinged points are arranged near leg-of-mutton three summits, basically arrange near triangle, so be called accurate triangular platform.For example embodiment 1,4.Ankle-joint also has similar arrangements, also can be called accurate triangular arrangement.

About the distance between two parallel institution axis:

Theoretically, if two hip joints polygonal in the heart distance less than (Ra+Rb), two the parallel institution projections of toe polygon on horizontal plane separately just have coincidence, the figure of this coincidence is called the common, stable polygon; The center of gravity of robot is arranged on the polygonal center of common, stable (centre of form) usually.The common, stable area of a polygon is greater than zero the time, and when robot moved ahead with suitable step-length, center of gravity did not swing.

Generally speaking, two same parallel institutions, when distance is zero, common, stable area of a polygon maximum, the big more coincidence area of distance is more little, and the common, stable area of a polygon is more little.When distance during greater than (Ra+Rb), do not overlap fully, the common, stable area of a polygon is zero.For reliable and guarantee to have suitable remaining, can get two hip joints polygonal in the heart distance smaller or equal to 0.8 (Ra+Rb).

Distance between the inside and outside formula walking robot axis, when two axis overlapped substantially, the characteristics of robot were that motion has symmetry, for example, the step-length of the step-length of directions X and Y direction is close or equal.

When the distance between two axis is big, for example, distance is when 0.1--0.2 (Ra+Rb), be fit to two flat parallel institution combinations, for example the hip joint triangle of parallel institution and ankle-joint triangle all are isosceles triangles, and four the projections coincidences of leg-of-mutton axis on horizontal plane, and the characteristics of robot are that motion has superiority in certain direction, for example, the step-length of this direction is bigger.

Robot for two six-degree-of-freedom parallel connection mechanisms compositions, if two hip joint polygons are regular hexagon or equilateral triangle, two ankle-joint polygons also are equilateral triangles, cooperate suitable side chain working space again, so, the walking characteristic of robot just may be symmetrical.For example, the maximum step-length of directions X is identical or close with the maximum step-length of Y direction, and the maximum angle that rotates around X-axis is identical or close with the maximum angle around Y-axis.If two hip joint polygons are changed into flat hexagon or isosceles triangle, two ankle-joint polygons are changed into isosceles triangle, and the projection of their symmetry axis on horizontal plane overlaps, cooperate suitable side chain working space again, so, the walking characteristic of robot is exactly asymmetrical.For example, the maximum step-length of directions X is bigger than the maximum step-length of Y direction, and the maximum angle ratio that rotates around X-axis is big around the maximum angle of Y-axis, or the like.The speed of advancing like this, will be greater than the speed that laterally moves.This kinetic characteristic with many animals is similar.Also there is similar situation in robot for the lower-mobility parallel institution is formed.

Change at the hip joint polygon under the situation of flat hexagon or isosceles triangle (the ankle-joint polygon also changes isosceles triangle into), distance between the center of two parallel institutions of inside and outside formula robot can reach bigger numerical value, for example, 0.2---0.3 (Ra+Rb).

Generally, outer leg is bigger, and interior leg is less.If outer leg is much larger than interior leg, the distance between the center of two parallel institutions of inside and outside formula robot also can reach bigger numerical value, for example, and 0.2---0.3 (Ra+Rb).Such robot is suitable for walking on the road surface of channel shaped.

Distance between the gauche form walking robot axis, the hip joint of a common leg mechanism are centered close near another leg mechanism toe polygon edge (comprising the summit).In other words, the axis of a leg mechanism is positioned near another polygonal edge of leg mechanism ankle-joint.At this moment, two polygonal centre distances of hip joint are about 0.35-0.65 (Ra+Rb).This is preferable scheme.Distance between the gauche form walking robot axis, hour, for example, distance is when 0.25--0.50 (Ra+Rb), and the walking movement of robot more is bordering on inside and outside formula walking robot, and for example, the step-length of the step-length of directions X and Y direction is close.When big, for example, distance is when 0.5--0.8 (Ra+Rb), and the characteristics of robot are that motion has superiority in certain direction, and for example, the step-length of this direction is bigger.Similar with inside and outside formula walking robot in parallel, be fit to two flat parallel institution combinations, the hip joint polygon that is parallel institution is that isosceles triangle or flat hexagon and ankle-joint triangle are isosceles triangles, and the projection of the axis of four figures on horizontal plane overlaps, the characteristics of robot are that motion has superiority in certain direction, for example, the step-length of this direction is bigger.

Spacing between two parallel institutions is also relevant with concrete parallel institution.For example, a 5DOF parallel institution and a 3DOF parallel institution combination, because the 3DOF parallel institution has only three side chains, less with the interference of 5DOF parallel institution, two polygonal centre distances of hip joint almost can change between 0.0---1.0 (Ra+Rb) continuously.

Inside and outside formula and gauche form are not well-separated, and the distance between some inside and outside formula axis may reach 0.3 (Ra+Rb).Distance between some gauche form axis may have only 0.20 (Ra+Rb).Other may be difficult to distinguish inside and outside formula or gauche form, and for example embodiment 7.

Definition about the parallel institution size:

The size of two parallel institutions is to compare not too easily.The comparison that the said parallel institution size of this paper is a lateral dimension.In order to compare the size of two parallel institution lateral dimensions, introduce as the polygonal notion of hypozygal projection: the hip joint of a parallel institution, ankle-joint have projection on horizontal plane, connect the polygon that these subpoints obtain successively and be called hip joint ankle-joint projection polygon, be called for short joint projection polygon.The comparison of two parallel institution lateral dimensions, the joint bigger parallel institution of projection area of a polygon is called big parallel institution, and the joint less parallel institution of projection area of a polygon is called little parallel institution, no matter the height of the two is how.For example, be example with Fig. 6, polygon N2, N5, N3, N6, N1, N4, N2 are exactly the joint projection polygon of embodiment 1 outer leg.The joint projection polygon of the interior leg of embodiment 4 is F1, F5, F2, F6, F3, F4, F1.The joint projection polygon of the outer leg of embodiment 4 is N1, N4, N2, N5, N3, N6, N1 (Figure 12).If the A parallel institution is bigger than B parallel institution, so, in other words, the polygonal area of joint projection of A parallel institution correspondence is bigger than the joint projection area of a polygon of B parallel institution.Bigger parallel institution is called outer leg, and less parallel institution is called interior leg.No matter that whom are is big who is little for the height of these two parallel institutions, only see joint projection area of a polygon.

This is an approximate comparative approach.In the actual design, consider that the concrete structure of side chain and working space, step-length require or the like the concrete size of determining two parallel institutions.For being the parallel institution of side chain with RSS, SRS, RRS etc., can be two kinematic pairs on top as the hip joint kinematic pair.If the hip joint subpoint is not unique, its projection also will be taken all factors into consideration the position of subpoint or get the subpoint of neutral position.The joint projection polygon of Figure 21 China and foreign countries leg is N11, N12, N4, N21, N22, N5, N31, N32, N6, N11.

For inside and outside formula walking robot in parallel, the size of parallel institution is relative, and according to the working environment of robot, task needs concrete definite.Generally speaking, after overall dimensions is determined, should make the step-length maximum; After maximum step-length is determined, should make the overall dimensions minimum, structure is the compactest.

The secondary scheme of following various arch of foots both had been fit to inside and outside formula robot, also was fit to the gauche form robot.Staggered form walking robot in parallel in the left and right sides is preferential to use following arch of foot to make up: outer leg is C shape or U-shaped arch of foot, and interior leg is a T shape cohesive type arch of foot etc.

Each side chain all has the activity space of oneself, and the activity space size of each side chain is relatively more balanced, and overall structure is compact.In the embodiment that provides, the activity space that has all reached side chain is relatively more balanced, the purpose that overall structure is compact.

Adjustment about the side chain interval:

Two upper mounting plates that link together can be in one plane, also can be not in one plane.Two upper mounting plates between the upper and lower every the height that is used to coordinate two parallel institutions.General, for inside and outside formula structure, the upper mounting plate of outer leg is higher, and the upper mounting plate of interior leg is lower.Generally, during the neutral position, the ankle-joint of two parallel institutions (or toe) in one plane.Two groups of leg mechanisms can be identical, also can be different.Each branch road of two parallel institutions preferably also is divided into three groups at an upper portion thereof.Interior leg and outer leg mutually noninterfere, the two moves with mutually noninterfere, and structure and space minimum are preferred plan.Two upper mounting plates also can rotate an angle (being called phase place) mutually around axis, are used to regulate the distance between the side chain and regulate distance between the arch of foot.

For side chain is the parallel institution of SPS, PSS, RSS, RRS, SRS, PS, S or the like, two leg mechanisms can adopt small one and large one, one outer in one, one on the other, one in front and one in back wait one or more modes to stagger mutually, prevent to interfere.

Side chain is the parallel institution of SPS, and each tie point of the upper mounting plate on leg can be arranged on the endless belt.

Is identical for platform-type parallel institution hip joint triangle with its projection on horizontal plane, and it is different having only stage body formula parallel institution.

When two parallel institutions were in the neutral position, the projection of toe polygon on horizontal plane of A, two parallel institutions of B had coincidence.

About four kinds of arch of foot pairs:

Above-mentioned four kinds of combinations both had been fit to inside and outside formula robot scheme, also were fit to gauche form robot scheme.

For outer leg is that cohesive type arch of foot, interior leg are the combinations of cohesive type arch of foot, for example, Y+Y, T+T, V+T, V+Y, △+Y, △+△ etc. are referring to embodiment 4,5,7,15 etc.For outer leg is that cohesive type arch of foot, interior leg are the combinations of abduction formula arch of foot, for example, T+U, Y+U, Y+C, Y+O, △+O, A+O etc. are referring to embodiment 11,16,17 etc.For outer leg is that abduction formula arch of foot, interior leg are the combinations of cohesive type arch of foot, for example, O+Y, C+T, C+Y, U+Y, U+T, C+ △ etc. are referring to embodiment 1,2,8,9,16,21 etc.For outer leg is that abduction formula arch of foot, interior leg are the combinations of abduction formula arch of foot, for example, O+O, O+C, C+C, O+V, C+O, Y+T, △+△ etc., referring to (outer legs of previous symbology such as embodiment 3,14,15,19,20, leg in the symbology in back, for example, C+Y represents that outer leg is that C shape arch of foot, interior leg are Y shape arch of foots).From vertical view, most of arch of foots have a symmetry axis, two arch of foot pairs that arch of foot is formed, and its axis normally overlaps.

Definition about two kinds of arch of foots:

Arch of foot has two classes: cohesive type arch of foot and abduction formula arch of foot.

1), cohesive type arch of foot: in the process of the neutral position of parallel institution and motion, observe from the angle of vertical view, lower platform member (arch of foot) does not expose or lessly exposes the polyhedron that parallel institution surrounds.Arch of foot can enter under the lower platform or directly over segment space, arch of foot is less to expose or not to expose the side.Its vertical view shape is mainly Y shape, T shape, triangle (△ shape), V-arrangement, A shape etc., and sometimes, also can make a variation is other complicated shapes.Cohesive type arch of foot and abduction formula arch of foot all are for the axis of parallel institution.The branch of cohesive type arch of foot is near axis, and the branch of abduction formula arch of foot keeps clear of axis.Three end points of three branches of Y shape arch of foot or T shape arch of foot are fixed together, and three free ends are arranged in addition in the outside, and ankle-joint mount pad majority is in the outer end.

2), abduction formula arch of foot: observe from the angle of vertical view, lower platform member (arch of foot) is arranged on the outside or the close outside of parallel institution, under the various motion states of parallel institution, lower platform member (arch of foot) is less or never enter within the polyhedron that parallel institution surrounds, and the central part of parallel institution has a bigger interference-free space.Abduction formula arch of foot disturbs very little to the inner space of parallel institution and arch of foot, even does not disturb.Abduction formula arch of foot comprises annular (for example circle, ellipse, triangle, petal, hexagon etc.) and semi-circular (for example, V-arrangement, A shape, U-shaped, C shape, L shaped, W shape etc.) two kinds.Two end points of three branches of annular arch of foot or triangle arch of foot link to each other in twos, form loop configuration, and the ankle-joint mount pad is in the junction.The branch of V-arrangement or C shape arch of foot links to each other at an end points, forms hatch frame, and the ankle-joint mount pad is at junction and free end.

Wherein, triangle arch of foot, V-arrangement arch of foot and A shape arch of foot both can be used as the cohesive type arch of foot and had used between cohesive type arch of foot and abduction formula arch of foot, also can be used as abduction formula arch of foot and used.

In addition, mixing the shape arch of foot in addition, is the variation of cohesive type arch of foot and abduction formula arch of foot, for example, and Figure 22.Its arch of foot part abduction, a part is containing or be in abduction or containing between.Shapes such as that the vertical view that mixes the shape arch of foot is shaped as is L shaped, V-arrangement, U-shaped, W shape, annular, snowflake shape, Y shape, in the practical application, its shape is according to the structures shape of working environment and walking robot.The hybrid arch of foot of variation can help to optimize the robot architecture.In the analysis below, do not classify as a class separately as mix the shape arch of foot.In the practical application, mix the shape arch of foot and can be included into close cohesive type arch of foot or abduction formula arch of foot.For example, Figure 22 is the cohesive type arch of foot of variation.

Each tie point of lower platform preferably trigonometric expression is arranged or accurate trigonometric expression layout.The grouping of hinged point can make himself disturbance space more concentrated, for another leg mechanism provides bigger monoblock space, and can be in limited scope, for leg mechanism provide maximum working space.Sometimes, the ankle-joint mount pad also can be divided into four groups, for example, and two arch of foot pairs that the recessed arch of foot of U-shaped constitutes.

Height about arch of foot

Walking robot in parallel, the projection of arch of foot pair on horizontal plane of two parallel institutions has intersection point, and at least at the intersection point place of arch of foot pair, the arch arm on leg is higher, and the arch arm on leg is lower, forms non-interfering arch of foot pair.

Have or not intersection point according to a pair of arch of foot pair on vertical view, the arch of foot pair can be divided into two classes again:

No intersection point arch of foot pair, a pair of arch of foot pair does not have intersection point on vertical view.For example: less Y shape arch of foot of the center configuration of a big annular arch of foot; Less annular arch of foot of the center configuration of a big annular arch of foot; For another example, C+T, C+Y or the like.The cooperation of two cohesive type arch of foots, can be configured to does not have intersection point arch of foot pair yet, for example, less Y shape arch of foot of center configuration of big triangle arch of foot; The size of arch of foot reasonably is set, and no intersection point arch of foot pair can not produce the interference between the arch of foot.

Intersection point arch of foot pair is arranged, and a pair of arch of foot pair has intersection point on vertical view.For example: the cooperation of two Y shape arch of foots; Bigger Y shape arch of foot of a little annular arch of foot configuration, for another example, V+O, T+O or the like.In order to prevent the interference of arch of foot, intersection point arch of foot pair is arranged, take an arch of foot higher, the measure that arch of foot is lower.For example, an arch of foot is protruding, and another arch of foot is recessed; If two all is recessed, so, one higher, and one lower.If two all is protruding, so, one higher, and one lower.

When two parallel institutions were in the neutral position, the projection of toe polygon on horizontal plane of A, two parallel institutions of B had coincidence.

Toe on the arch of foot is the part that contacts with ground minimum on the arch of foot.Toe can be thought the end effector of walking robot.Though a plurality of toes are arranged, the toe on the same parallel institution is to be mutually related, and can not independently control, so remain two leg biped robots.

About plane arch of foot, convex arch of foot and matrix arch of foot: no matter be abduction formula arch of foot or cohesive type arch of foot, according to the side view of arch of foot, arch of foot can be divided into again: three kinds of versions such as plane arch of foot, convex arch of foot, matrix arch of foot.

The plane arch of foot: the side view of arch of foot is on the plane substantially.The plane arch of foot is the simplest arch of foot, also is the most basic arch of foot.The branch of arch of foot raises up and becomes the convex arch of foot, and the branch of arch of foot becomes the spill arch of foot to recessed, and the branch of arch of foot not only raises up but also the recessed concave-convex arch of foot or the like that then develops into is arranged.Plane arch of foot, bottom, arch of foot plane are toe (whole or part arch of foots).The convex arch of foot, from the side of arch of foot, the figure of the branch of arch of foot raises up.With the protruding arch of foot of cohesive type Y shape is example, and three branches link together on top.The bottom, outer end of three branches or middle part are joint mount pad (2.9).The below of joint mount pad or arch of foot be toe (2.10) bottom.When the middle part was the joint mount pad, there was long toe in robot.The matrix arch of foot, from the side of arch of foot, the figure of arch arm is to recessed.(shape is opposite up and down with the convex arch of foot), (referring to Fig. 9).Because the matrix arch of foot does not take the space more than the ankle-joint plane in motion process, so the space that each side chain of parallel institution surrounds can be stayed and use it for anything else.The most of arch of foot in the bottom of matrix arch of foot can be used as sole and uses, so also can be described as the big foot arch of foot.The spill arch of foot, pin is big, and is little to geostatic pressure, is suitable for walking on soft surface.The interior leg arch of foot of arch of foot pair is the recessed arch of foot of Y shape among Fig. 9.The end of branch links together.The upper outside of branch is joint mount pad (1.9).The below of branch is toe (1.10).

No matter be plane arch of foot, convex arch of foot or spill arch of foot, so long as the cohesive type arch of foot just all comprises Y shape arch of foot, T shape arch of foot, △ shape arch of foot and V-arrangement arch of foot, A shape arch of foot etc.

No matter be plane arch of foot, convex arch of foot or spill arch of foot, so long as abduction formula arch of foot just all comprises O shape arch of foot, C shape arch of foot, W shape arch of foot, U-shaped arch of foot, △ shape arch of foot and V-arrangement arch of foot, A shape arch of foot etc.

So the cohesive type arch of foot has three kinds of versions, abduction formula arch of foot also has three kinds of versions.Always have 6 kinds of arch of foots, appoint and get two (can repeat to get), have 36 kinds of arrangements, 36 secondary arch of foot pairs with a kind of arch of foot.Consider the variation of various arch of foots, actual arch of foot subsidiary species class can be more.

In addition, also having the staggered arch of foot of convex-concave, is the variation of plane arch of foot, recessed arch of foot, protruding arch of foot, referring to Figure 22.From the side of arch of foot, (or 2) branch's figure of arch of foot is convex, and another (or 2) branch's figure is to recessed, and perhaps the existing epirelief of branch has recessed again.In the practical application, its shape is according to the structures shape of working environment and walking robot.The alternating expression arch of foot of variation can help to optimize the robot architecture.In the analysis of this paper, the stagger mode arch of foot is not classified as a class separately.In the practical application, the stagger mode arch of foot can be included into close plane arch of foot, protruding arch of foot or recessed arch of foot.

About phase difference

The relative position of two parallel institutions, in hip joint is polygonal in the heart distance and two upper mounting plates up and down the distance, also have: the phase place of two platforms, promptly the axis around one of them platform rotates another platform, changes the relative position of two parallel institutions.If overlapping, the projection of the polygonal symmetry axis of the ankle-joint of two parallel institutions on horizontal plane claim that these two parallel institutions are same-phase.Two axis change one 60 degree angle relatively, and the phase angle that claims these two parallel institutions is 60 degree.Change phase place, can be used for adjusting the mutual alignment of each side chain, adjust the mutual alignment of two lower platforms, adjust the polygonal size of common, stable, prevent to interfere with each other.Change phase place, the common, stable polygon is had considerable influence.Generally, two parallel institutions can be combined together with any phase angle, and for example, the phase difference of 18, two parallel institutions of embodiment is 30 degree.But with phase angle equal 0 the degree, 60 the degree, 90 the degree, 180 the degree be the best.Variation also is good scheme in positive and negative 10 degree of above-mentioned numerical value.

Mostly scheme among the embodiment is specializing of these three schemes.In preferred plan, the working space of each side chain is bigger, and relatively more balanced.Similarly, if the projection of the polygonal symmetry axis of the ankle-joint of two parallel institutions on horizontal plane overlaps, can claim that also two parallel institutions are same-phase.Generally, the projection of the polygonal center of the hip joint of same parallel institution on horizontal plane overlap with the polygonal geometric center of ankle-joint or the distance very near.

In addition, the angle of two platform plane of change among a small circle can be used for adjusting the mutual alignment of each side chain, adjusts the mutual alignment of two lower platforms, adjusts the polygonal size of common, stable, but acts on less.

The free degree about parallel institution: particularly, following have two, three, four, five, a parallel institution (the said parallel institution of this paper all is meant space parallel mechanism) of six-freedom degree, may be used to the present invention.

(3T3R represents to have the parallel institution of three translation freedoms and three rotational freedoms to 6-DOF, T represents translation freedoms, R represents rotational freedom, down roughly the same) parallel institution, the six-degree-of-freedom parallel connection mechanism that comprises various versions comprises platform-type or stage body formula parallel institution, comprises single-opened-chain limb, six-degree-of-freedom parallel connection mechanism with mixed single-opened-chain limb may be used to the present invention.The parallel institution of six-freedom degree can be formed a walking robot with self and any one following leg mechanism in parallel.

2T3R in the five-freedom parallel structure (comprises the degrees of freedom combination of moving one's steps, one turns to the free degree, upright degrees of freedom combination, lacks a translation freedoms on the horizontal plane) parallel institution can same 2T3R, 3T2R, 2T2R, 1T3R, 1T2R, 0T3R and 0T2R leg mechanism in parallel are formed walking robot.

3T2R in the five-freedom parallel structure (comprise two degrees of freedom combination of moving one's steps, upright degrees of freedom combination, lack a free degree of rotating) leg mechanism in parallel around the Z axle can same 2T3R, 1T3R and 0T3R leg mechanism in parallel form a walking robot.

The parallel institution of four-degree-of-freedom comprises two kinds of parallel institutions of 2T2R (comprising the combination of one-movement-freedom-degree and a upright degrees of freedom combination) and 1T3R (comprise turn to the free degree, upright degrees of freedom combination and to lift go on foot the free degree).In the 4DOF parallel institution, have only 2T2R and 1T3R combination, 2T2R and 0T3R to make up these two schemes and can form walking robot.Robot with 1T3R, the combination of 0T3R parallel institution can only do the batch (-type) walking movement.

The parallel institution of Three Degree Of Freedom has only two space parallel mechanisms of 1T2R (comprising that a upright degrees of freedom combination and lift the step free degree) and 0T3R (comprise a upright degrees of freedom combination and turn to the free degree) can be used for walking robot.Robot with 1T2R parallel institution combination can only make intermittent movement, and the parallel institution that cooperates with it is minimum will to be had 5 frees degree and can only be 2T3R.Robot with the combination of 0T3R parallel institution can only do the wave intermittent movement, and the parallel institution that cooperates with it is minimum will 4 frees degree.

Two-freedom-degree parallel mechanism (0T2R) is one three a side chain two freedom space parallel mechanism, and one degree of freedom is the free degree of rotating around X-axis, and another is the free degree of rotating around Y-axis.It can adapt to various uneven road surfaces, can not adjust the upper mounting plate height.It only is the leg of standing.Robot with its combination can only do the wave intermittent movement.The parallel institution that cooperates with it is minimum will 5 frees degree.

Two leg mechanisms of the above-mentioned various frees degree can produce 11 kinds of feasible combinations.For example, 6+6 (referring to embodiment 1--32), 6+5 is (referring to embodiment 33,34), 6+4 (referring to embodiment 35,36), 6+3 (referring to embodiment 37,38,47), 6+2 (embodiment 48), 5+5 (referring to embodiment 39,40), 5+4 (referring to embodiment 41,42,53), 5+3 (referring to embodiment 43,44,49), 5+2 (embodiment 50), 4+4 (referring to embodiment 45,46), 4+3 schemes such as (embodiment 51).The robot that two 6DOF parallel institutions of " 6+6 " expression are formed, the rest may be inferred by analogy for it.

Two parallel institutions all are six-degree-of-freedom parallel connection mechanisms, can carry out various walking movements.

Side chain about parallel institution: the side chain of two parallel institutions of walking robot in parallel can all be or mainly be that a kind of or leg in the following side chain form uses a kind of side chain that another leg uses another kind of side chain:

1, SPS side chain, 2, the PSS side chain, 3, the RSS side chain, 4, the SRS side chain.The lower-mobility parallel robot can also use following side chain:

The RRS side chain is revolute pair from top to bottom successively, revolute pair, ball pair; The PRS side chain is moving sets from top to bottom successively, revolute pair, ball pair; The PS side chain is moving sets from top to bottom successively, the ball pair; S side chain (two bars, one ball pair).

With SPS is the leg mechanism in parallel of side chain.Comprise that (on behalf of ball pair, P, S represent broad sense moving sets, R to represent revolute pair, U to represent universal hinge, C to represent cylindrical pair to side chain forms such as SPU, SCU, UCU, from left to right, represent uppermost kinematic pair successively, middle kinematic pair and nethermost kinematic pair, as follows).

For the 6-SPS of double-deck parallel institution, its sub-chain is arranged on the circumference that diameter do not wait, and can not be used for outer leg of the present invention.But can be used for interior leg.

With PSS is the parallel institution of side chain, and the axis direction of P pair can have many schemes.The axis of various directions comprises Hexaglide parallel operation mobile phone structure, may be used to the present invention and may be used to the present invention.Referring to embodiment 8---14

With RSS is the parallel institution of side chain, and the axis of R pair also has three directions, may be used to the present invention.

The leg mechanism in parallel that with SRS is side chain also can be used for the present invention, referring to embodiment 22.

About stage body formula parallel institution: stage body formula robot is referring to embodiment 27,30 and embodiment 53.In the specification of the present invention, the also unified upper mounting plate that is called of the top stand of stage body formula parallel institution.

About positive terrace with edge shape, chamfered edge platform shape and column parallel institution: when the hip joint polygon and the ankle-joint polygon size of a parallel institution, area is identical or when close, claim that this parallel institution is the column parallel institution.Hip joint polygon on a parallel institution than ankle-joint polygon hour claims this parallel institution for being called positive terrace with edge parallel institution.When the hip joint polygon on the parallel institution is bigger than ankle-joint polygon, claim this parallel institution for being called chamfered edge platform parallel institution.The parallel institution of three kinds of shapes has 18 kinds of arrangements as interior leg, outer leg: comprise nine kinds of inside and outside formulas, nine kinds of gauche forms:

Outer leg is the column parallel institution, and interior leg is respectively column, positive terrace with edge and chamfered edge platform parallel institution;

Outer leg is positive terrace with edge parallel institution, and interior leg is respectively column, positive terrace with edge and chamfered edge platform parallel institution;

Outer leg is a chamfered edge platform parallel institution, and interior leg is respectively column, positive terrace with edge and chamfered edge platform parallel institution.

Wherein, outer leg is the column parallel institution, and interior leg is respectively that column and positive terrace with edge parallel institution are chamfered edge platform shape parallel institutions with outer leg, and interior leg is respectively that four kinds of schemes such as column and positive terrace with edge parallel institution are preferable schemes.Interior leg is the robot of chamfered edge platform shape parallel institution, and interior leg ankle-joint triangle is less, can use under specific condition.

No matter be inside and outside formula, or the gauche form parallel robot, can use this 18 kinds of arrangements, technical, do not have difficulties.In the actual design, according to concrete design objective, version of side chain or the like factor is determined.

About the dual trace walking robot: the toe of walking robot in parallel is six, is divided into two groups, and three every group, same group of toe comprises two toes on the parallel institution, is arranged on two parallel lines.Based on robot of the present invention six toes are arranged usually.During straight line moving, can stay three and walk to six row footprints.If six toes are divided into two groups, three every group, every group of toe is distributed in respectively on two parallel lines, so, along the direction walking of parallel lines, just has only two footprints.Referring to embodiment 7.

The robot of broad sense kinematic pair is installed down about toe: broad sense moving sets (as the mobile width of cloth, the cylinder width of cloth, the spiral width of cloth etc.) is preferably installed three, and more also is feasible.These moving sets drive the upper mounting plate motion as driving pair.Like this, in moving process, the state that upper mounting plate both can keep level or more tilt helps crossing higher barrier again, stair activity, or deepford etc.Part toe is equipped with the mobile width of cloth, on a certain direction, can be implemented in horizontal attitude and go up a slope; All toe is loaded onto moving sets, then can realize omnidirectional's level upward slope.After loading onto the mobile width of cloth, also help and cross higher barrier, or deepford etc.For example, when setting foot on the slope,, extend automatically, keep the horizontal attitude of upper mounting plate then at a toe in original place or the mobile width of cloth on two toes.This scheme, two deficiencies that above-mentioned all robot schemes exist have been overcome: 1, at big slope or step (during stair) up and down, be subjected to the restriction of platform roll capability, be difficult for accomplishing upper mounting plate maintenance level, in other words, even kept level, locomitivity then is restricted, 2, be difficult for deepford or cross taller and bigger barrier.

About the robot of end effector is installed: two end effectors form two fingers, under the driving of two parallel institutions, work in coordination, and can finish various operations.End effector can be a scalpel, or other operators etc.Pedestal can be the pedestal in various orientation.The free degree sum of two parallel institutions preferably equals 12.

Each side chain of the parallel institution that the present invention is enumerated is made the parallel institution that forms after the suitable replacement, is included in the present invention naturally.For example: following replacement, (1) is based on the type expansion that changes kinematic pair order and axis direction; Keep under the constant condition of motion output characteristic, change the type expansion of kinematic pair order and axis direction, comprise non-complete parallel institution; (2) the type expansion that substitutes based on the kinematic pair type; (3) use the kinematic chain that contains the compound movement pair, can be used for replacing certain side chain of the present invention.Replace SPS as SPS, SCS, replace TPS, replace revolute pair member R-R-R with S-S with SPS; The R that P is secondary and adjacent is secondary to be substituted with C is secondary; Two R of axes intersect are secondary to be substituted with U is secondary; The type expansion that substitutes based on equivalent branch road etc.

About the side chain of the said leg mechanism in parallel of the present invention, both comprised with first-class multiple single-opened-chain limb, also comprise various mixed single-opened-chain limbs.Mix single open chain and be meant the open chain that contains the loop, more generally, mix single open chain and form (being called the single open chain of extended hybrid) by connect some kinematic pairs and member of parallel institution.

Two parallel institutions can be the identical parallel institutions of side chain, also can be side chain parallel institutions inequality.For example, a parallel institution is the SPS side chain, and another parallel institution is the PSS side chain.

In the practical application of the present invention, avoid the unusual position shape of parallel institution.

Impact when landing in order to reduce is equipped with elastic vibration clamper in the toes bottom.Toe lower end shape is preferably hemispherical or the ellipsoid shape.This can adapt to various road surfaces.The toes bottom is equipped with distance measuring sensor and pressure sensor etc.For at ceiling, special list general works such as metope can be equipped with sucker, electromagnet etc. at toe.

The dynamic duty process

The course of work (is example with embodiment 1) of inside and outside formula walking robot.Figure 64 is that interior leg is in the phase time of keeping a foothold, the arch of foot vertical view and the footprint figure of the inside and outside formula walking robot of 12DOF.Circular (dotted line) expression foot-print areas.Interior whole bow (lower platform) is a Y shape, and the exopodal arch of foot is an annular.The center of gravity of robot is positioned at the top of the centre of form of hexagon arch of foot.Figure 65 is in the phase of keeping a foothold when outer leg, and interior leg is in trip pin phase time, the foot-print areas of interior leg.The foot-print areas that circular (dotted line) expresses possibility.The motion of trip pin phase toes is made of two parts: a part is the motion that the P pair of its phase leg mechanism of keeping a foothold produces upper mounting plate, and another part is the motion that its trip pin phase leg mechanism produces trip pin phase arch of foot.The two is synthetic to have formed the motion of moving one's steps.

1, static stability straight line moving: in the cycle, when stopping, leg is in the phase of keeping a foothold in supposing a step appearance, and outer leg is in trip pin phase.

Any direction advance (can not turn to), outer leg stretches out forward, and interior leg drives upper mounting plate and also moves to same direction, so upper mounting plate moves forward, center of gravity moves forward thereupon, outer leg moves forward thereupon, and when reaching required step-length or maximum step-length at last, outer leg lands, load, center of gravity turns to outer leg center by interior leg, and interior leg lifts withdrawal, and interior leg is in trip pin phase.Upper mounting plate continues to move forward, and center of gravity continues reach thereupon, center of gravity move on to outer leg in the heart.Outer leg is in the phase of keeping a foothold, and the beginning next one takes a step to move, the next circulation of beginning.

When travelling forward, trip pin phase leg forward, the center of gravity of robot travels forward thereupon, the center of gravity of robot is still in the stable triangle that three toes of phase leg mechanism of keeping a foothold form, and center of gravity still is positioned at the middle part of stable triangle, robot does not adjust position of centre of gravity about not needing, and can finish the motion of moving one's steps.

2, steady stability sexual deviation: the arch of foot that is in trip pin phase rotates relative to upper mounting plate, if do not reach requirement, upper mounting plate equidirectional rotation under the drive of the phase leg of keeping a foothold.When arriving institute's steering angle that requires or steering locking angle and spending, the trip pin puts down mutually enough, becomes the phase of keeping a foothold, and bases oneself upon mutually that foot becomes trip pin phase, and the phase of keeping a foothold leg rotates an angle again, reach require to turn to.If angle can not repeat said process completely, turn to continuously.In the steering procedure, the center of gravity of robot does not change, and is in all the time in the stable triangle of three the toes formation of phase leg mechanism of keeping a foothold, and robot does not adjust position of centre of gravity about not needing.

3, turn to the static stability straight line moving time: because in the steering procedure, the center of gravity of robot does not change, so in the time of the walking robot straight line moving, follow and turn to, the center of gravity of robot is still in the stable triangle that three toes of phase leg mechanism of keeping a foothold form, and center of gravity still is positioned at the middle part of stable triangle, and robot does not adjust position of centre of gravity about not needing.

4, dynamically walking

When travelling forward, even center of gravity moment of robot has exceeded the stable triangle scope of the phase leg of keeping a foothold, robot does not adjust position of centre of gravity about still not needing.For example, if interior leg is in trip pin phase, outer leg is in the phase of keeping a foothold, as long as outer leg is firmly pedaled ground, interior quick-footed speed lands, upper mounting plate obtains a bigger pace, and center of gravity shifts forward rapidly, drops on fully on the interior leg, interior leg becomes the phase of keeping a foothold, outer leg lifts, and outer leg is in trip pin phase, just can realize dynamic walking.Leg takes a step to move as the next one of the phase of keeping a foothold in the beginning.

Therefore, no matter be the stable state walking, still dynamic walking, robot does not all want and adjusts its center of gravity in the horizontal.

The course of work of staggered form walking robot (is example with embodiment 5) Figure 66 is keep a foothold phase, an outer leg trip pin phase time of leg in the staggered form walking robot before and after 2 * 6DOF, the vertical view of arch of foot pair and footprint figure.Figure 67 is the outer leg trip of staggered form walking robot pin phase, interior leg the keep a foothold vertical view and the footprint figure of phase time arch of foot pair before and after 2 * 6DOF.Mark is seen LIST OF REFERENCES.

1, static stability straight line moving: in the cycle, when stopping, leg is in the phase of keeping a foothold in supposing a step appearance, and outer leg is in trip pin phase.

Any direction advance (can not turn to), outer leg stretches out forward, and interior leg drives upper mounting plate and also moves to same direction, so upper mounting plate moves forward, center of gravity moves forward thereupon, outer leg moves forward thereupon, and when reaching required step-length or maximum step-length at last, outer leg lands, load, center of gravity turns to outer leg by interior leg, and interior leg lifts withdrawal, and interior leg is in trip pin phase.Upper mounting plate continues to move forward, and center of gravity continues reach thereupon, center of gravity move on to outer leg in the heart.Outer leg is in the phase of keeping a foothold, and the beginning next one takes a step to move, the next circulation of beginning.

When travelling forward, trip pin phase leg forward, the center of gravity of robot travels forward thereupon, the center of gravity of robot is still in the stable triangle that three toes of phase leg mechanism of keeping a foothold form, and center of gravity still is positioned at the middle part of stable triangle, robot does not adjust position of centre of gravity about not needing, and can finish the motion of moving one's steps.

2, steady stability sexual deviation: the arch of foot that is in trip pin phase rotates relative to upper mounting plate, if do not reach requirement, upper mounting plate equidirectional rotation under the drive of the phase leg of keeping a foothold.When arriving institute's steering angle that requires or steering locking angle and spending, the trip pin puts down mutually enough, becomes the phase of keeping a foothold, and bases oneself upon mutually that foot becomes trip pin phase, and the phase of keeping a foothold leg rotates an angle again, reach require to turn to.If angle can not repeat said process completely, connection turns to.In the steering procedure, the center of gravity of robot does not change, and is in all the time in the stable triangle of three the toes formation of phase leg mechanism of keeping a foothold, and robot does not adjust position of centre of gravity about not needing.

The course of work (with embodiment 44 is example, referring to Figure 68) of the inside and outside formula walking robot of 5DOF+3DOF.Five frees degree of outer leg, outer leg are semi-circular arch of foot 3, interior leg three degree of freedom, and interior leg arch of foot 6 is a Y shape.Because outer leg lacks a translation freedoms, the 5DOF parallel institution, the toe on the side chain RPS can only in one plane move, so, can only do a translation on the direction, rotation can only be rotated around the toe on the side chain RPS.Interior leg has only three degree of freedom, is one and can only stands and lift the leg in step, can not move one's steps.The walking of the robot of this structure is slow.

The static stability straight line moving: in the cycle, when stopping, leg is in the phase of keeping a foothold in supposing a step appearance, and outer leg is in trip pin phase.During walking, outer leg stretches out forward forward, and center of gravity is motionless, when outer leg reached required step-length or maximum step-length, outer leg landed, load, interior leg lifts withdrawal, interior leg is in trip pin phase, and outer leg drives upper mounting plate and travels forward, the center of gravity reach, center of gravity turns to outer leg by interior leg, behind the appropriate location, interior leg puts down, and interior leg is in the phase of keeping a foothold again.Outer leg is in trip pin phase, and the beginning next one takes a step to move, the next circulation of beginning.When interior leg is in the phase time of keeping a foothold, outer leg forward, the centre of form of robot is motionless, center of gravity changes less, the center of gravity of robot is still in the stable triangle that three toes of interior leg form.

When outer leg is in the phase time of keeping a foothold, outer leg drives upper mounting plate and travels forward, leg travels forward simultaneously in driving, the center of gravity reach of robot, in the center of gravity of the robot stable triangle that still three toes of leg form outside, and center of gravity still is positioned at the middle part of stable triangle, and robot does not adjust position of centre of gravity about not needing, and can finish the motion of moving one's steps.

2, steady stability sexual deviation:, can not turn to when interior leg is in the phase time of keeping a foothold.When outer leg is in the phase time of keeping a foothold, outer leg drives the toe of upper mounting plate on side chain SPR and rotates, and when arriving institute's steering angle that requires or steering locking angle and spending, interior leg puts down, and interior leg becomes the phase of keeping a foothold, and outer leg becomes trip pin phase.If arrive the steering angle that requires, outer leg is rotated further an angle, reach require to turn to.If the angle deficiency can repeat said process, connection turns to.In the steering procedure, the center of gravity of robot does not change, and is in all the time in the stable triangle of three the toes formation of phase leg mechanism of keeping a foothold, and robot does not adjust position of centre of gravity about not needing.Figure 68 is keep a foothold phase, an outer leg trip pin phase time of leg in the inside and outside formula walking robot 2 * 6DOF of 5DOF+3DOF, the vertical view of arch of foot pair and footprint figure.

Its duty is that outer leg is in trip pin phase, interior leg is in the situation of the phase of keeping a foothold, and the circle (dotted line) around the trip pin phase toes 1.10 has schematically been expressed the straight line (dotted line) of the possible foothold toes front and back of two toes of downside and schematically expressed the possible foothold of toes.

The course of work (is example with embodiment 51) of the inside and outside formula walking robot of 4DOF+3DOF: this is one of minimum walking robot in parallel of a kind of free degree.Outer leg can be finished the function of standing and move one's steps, and interior leg is used to stand and turn to.Can prepare turning to when moving one's steps, can take a step when turning to.Can only do intermittently walking movement of wave.Interior leg is in the phase of keeping a foothold, and center of gravity is motionless substantially, and outer leg lifts moves one's steps, and puts down; Outer leg continues to stretch out, the jack-up upper mounting plate, and interior leg lifts, and center of gravity moves, behind the arrival reposition, outer leg withdrawal, interior leg is in the phase of keeping a foothold again, the next circulation of beginning.

This invention will solve the problem of three most criticals.1, considers from function how to guarantee that two mechanisms finish the desired least degree of freedom of walking movement, guarantee to realize walking movement; 2, consider that from terms of mechanics two space parallel mechanisms will have the common, stable polygon, guarantee the stable state walking; 3, consider that from configuration aspects in motion process, mutually noninterfere between each parts of the mechanism of two complexity guarantees safe and reliable work.What particularly two spaces of the present invention's needs leg mechanisms in parallel comprised mutually or crossed one another links together.In a limited space, arrange two parallel institutions, 6---12 side chain, 2 upper mounting plates, 2 lower platforms, structure is very complicated.The removing the work of not making a match is put, and the two can severe interference.The present invention has solved the problems referred to above dexterously.

Good effect of the present invention is: provide a kind of parallel institution of specific lower platform structure, a kind of two parallel institutions to intersect, comprise mutually the method for attachment, the class that link together mutually and be suitable for parallel institution that parallel robot uses and the robot that is made up of two parallel institutions, integrated and have following advantage:

Two lower platforms intersect mutually, each other inside and outside, the two distance near and mutually noninterfere, for the self-movement that end effector and each end effector are installed provides the condition that makes things convenient for, and stressed good.As walking robot, the minimum point of lower platform is as toe (end effector), and a pin lifts, and center of gravity is not wanted move left and right, still in the stable triangle (polygon) of the phase leg of keeping a foothold.In the process of advancing of moving one's steps, do not adjust about center of gravity is done, just can carry out the stable state walking, it is stable to advance, and control is convenient.

Have the big foot that is formed by three toes, the characteristics of big arch of foot, multiple spot lands, and big space is arranged between the toe, and is strong to the complex road surface adaptive capacity; Stability range is big; Turn to flexibly, energy consumption characteristics is preferable.Compact conformation; Be easy to turn to; Any direction two leg mutually noninterferes of moving one's steps.

Though a leg is three toes, three toes are an integral body, remain two legs (two foots) robot, are easy to control and trajectory planning.

Because center of gravity is not wanted move left and right, does a walking robot the most basic, minimum as long as 7 frees degree.With same walking pattern motion, lack two frees degree than existing walking robot in parallel.Rigidity is big, Stability Analysis of Structures; Power performance is good, and bearing capacity is strong; The accumulation of error is little, the control accuracy height;

Description of drawings

Fig. 1 is the front view of typical both legs of the prior art walking robot in parallel.

Fig. 2 is the vertical view of Fig. 1.

Fig. 3-Figure 37 is that the inside and outside formula structure walking robot of various 12 frees degree is implemented illustration.

Figure 38-the 44th, the embodiment of front and back formula walking robots (12 free degree) is with scheming.

Figure 45--Figure 50, Figure 59 are the leg mechanisms in parallel of various five degree of freedom.

Figure 54--Figure 58 is the leg mechanism in parallel of various four-degree-of-freedoms.

Figure 60--Figure 62 is the leg mechanism of various Three Degree Of Freedoms.

Figure 64--Figure 68 is secondary vertical view of the arch of foot of several robots and footprint schematic diagram.

Fig. 3 is embodiment 1 front view of (6SPS side chain, 2x 6DOF, inside and outside formula structure, outer leg hexagon arch of foot add interior leg Y shape arch of foot walking robot).Interior leg is in the position, and outer leg is in the neutral position.

Fig. 4 is the vertical view of embodiment 1 (Fig. 3).

Fig. 5 is the stereogram of the outer leg of embodiment 1 (Fig. 3).

Fig. 6 is the vertical view of embodiment 1 outer leg (Fig. 5).

Fig. 7 is the stereogram of leg in the embodiment 1.

Fig. 8 is the stereogram of leg arch of foot in the embodiment 1.

Fig. 9 is the stereogram of embodiment 1 outer leg arch of foot.

Figure 10 is the stereogram of the arch of foot pair of embodiment 2 (2x 6DOF, 6SPS side chain, inside and outside formula structure, the recessed arch of foot of outer leg annular add the interior recessed arch of foot walking robot of leg Y shape).

Figure 11 is the vertical view of the arch of foot pair of embodiment 3 (2x 6DOF, SPS side chain, inside and outside formula structure, outer leg hexagon flatfoot bow add the interior capable robot of leg hexagon flatfoot bow step).

Figure 12 is embodiment 4 vertical view of (2x 6DOF, SPS side chain, inside and outside formula structure, the protruding arch of foot of outer leg Y shape add the interior protruding arch of foot walking robot of leg Y shape).

Figure 13 is the cutaway view in AOB cross section on Figure 12.

Figure 14 is the stereogram of the arch of foot pair of embodiment 4.

Figure 15 is the stereogram of the arch of foot pair of embodiment 5.

Figure 16 is the vertical view of embodiment 6.

Figure 17 is the arch of foot vertical view of embodiment 6.

Figure 18 is the vertical view of embodiment 7.

Figure 19 is the secondary vertical view of the another kind of arch of foot of embodiment 7.

Figure 20 is embodiment 8 front view of (first kind of PSS side chain, 2x 6DOF, inside and outside formula structure, outer leg convex annular arch of foot add the interior recessed arch of foot walking robot of leg Y shape).

Figure 21 is the vertical view of embodiment 8 (Figure 20).

Figure 22 is the arch of foot stereogram of leg in embodiment 8 robots.

Figure 23 is the gauche form robot architecture schematic diagram that two column parallel institutions are formed.

Figure 24 is chamfered edge platform parallel institution as outer leg, the positive terrace with edge parallel institution inside and outside formula robot schematic diagram as interior leg composition.

Figure 25 is column parallel institution as outer leg, the chamfered edge platform parallel institution inside and outside formula robot schematic diagram as interior leg composition.

Figure 26 is the stereogram of the interior leg of embodiment 11 (second kind of PSS side chain, 2x 6DOF, inside and outside formula structure, the protruding arch of foot of outer leg Y shape add the interior protruding arch of foot walking robot of leg hexagon).

Figure 27 is the stereogram of the interior leg of embodiment 12 (the third PSS side chain, 2x 6DOF, inside and outside formula structure, outer leg C shape flatfoot bow add the interior capable robot of leg A shape flatfoot bow step).

Figure 28 is the vertical view of embodiment 12 robot upper mounting plates.

Figure 29 is the vertical view of embodiment 12 robot arch of foot pairs.

Figure 30 is the stereogram of the interior leg of embodiment 15 (first kind of RSS side chain, 2x 6DOF, inside and outside formula structure, triangular planar arch of foot add the capable robot of hexagon flatfoot bow step).

Figure 31 is the vertical view of embodiment 15 robot upper mounting plates.

Figure 32 is the vertical view of embodiment 15 robot arch of foot pairs.

Figure 33 is the stereogram of the outer leg of embodiment 18 (second kind of RSS side chain, 2x 6DOF, inside and outside formula structure, annular flat arch of foot add annular flat arch of foot walking robot).

Figure 34 is the vertical view of embodiment 18 robot upper mounting plates (containing the part side chain).

Figure 35 is the vertical view of embodiment 18 robot arch of foot pairs.

Figure 36 is the vertical view of the outer leg of embodiment 21 (the third 6RSS side chain, 2x 6DOF, inside and outside formula structure, triangular planar arch of foot add the capable robot of hexagon flatfoot bow step).

Figure 37 is the stereogram of the interior leg of embodiment 22 (6SRS side chain, 2x 6DOF, inside and outside formula structure, the protruding arch of foot of Y shape add the protruding arch of foot walking robot of hexagon).

Figure 38 is embodiment 24 stereogram of (2x 6DOF, SPS side chain, front and back staggered form structure, outer leg U-shaped arch of foot add interior leg T shape arch of foot walking robot).

Figure 39 is the vertical view of embodiment 24 walking robots (Figure 32).

Figure 40 is the vertical view of the arch of foot pair of embodiment 24.

Figure 41 is the stereogram of the arch of foot pair of embodiment 25 (2x 6DOF, SPS side chain, front and back staggered form structure, the recessed arch of foot of outer leg U-shaped add the interior recessed arch of foot walking robot of leg T shape).

Figure 42 is the stereogram of the arch of foot pair of embodiment 26 (2x 6DOF, SPS side chain, front and back staggered form structure, the protruding arch of foot of outer leg C shape add the interior protruding arch of foot walking robot of leg T shape).

Figure 43 is embodiment 27 vertical view of (2x 6DOF, 6RSS side chain, front and back staggered form structure, outer leg U-shaped arch of foot add interior leg T shape arch of foot walking robot).

Figure 44 is embodiment 30 vertical view of (2x 6DOF, 6PSS side chain, front and back staggered form structure, outer leg U-shaped arch of foot add interior leg T shape arch of foot walking robot).

The vertical view of Figure 45 embodiment 32.

Figure 46 be first kind of 5DOF (4SPS+1RPS) leg mechanism in parallel vertical view.

Figure 47 is the vertical view of second kind of 5DOF (4PSS+1RRS) leg mechanism in parallel.

Figure 48 is the vertical view of the third 5DOF (4RSS+1RPS) leg mechanism in parallel.

Figure 49 is the vertical view of the 4th kind of 5DOF (4RSS+1RPS) leg mechanism in parallel.

Figure 50 is the vertical view of the 5th kind of 5DOF (4PSS+1RRS) leg mechanism in parallel.

Figure 59 is the vertical view of the 6th kind of 5DOF (contain and mix single open chain) leg mechanism in parallel.

Figure 51 is the stereogram of embodiment 40 (the inside and outside formula structure parallel robot of leg mechanism (10 free degree) in 5DOF leg mechanism+5DOF in parallel).

Figure 52 is the front view of embodiment 43 (the inside and outside formula structure parallel robot of leg mechanism (8 free degree) in 5DOF leg mechanism+3DOF in parallel).

Figure 53 is the vertical view of Figure 52.

Figure 54 is the front view of first kind of 4DOF (2SPS+2RPS) leg mechanism in parallel.

Figure 55 is the vertical view of second kind of 4DOF (3PSS+1PS) leg mechanism in parallel.

Figure 56 is the vertical view of the third 4DOF (3RSS+1PS) leg mechanism in parallel.

Figure 57 is the vertical view of the 4th kind of 4DOF (2PRS+2PSS) leg mechanism in parallel.

Figure 58 is the vertical view of the 5th kind of 4DOF (2PSS+2RRS) leg mechanism in parallel.

Figure 59 is the vertical view of the 6th kind of 5DOF (contain and mix single open chain) leg mechanism in parallel.

Figure 60 is the stereogram of first kind of 3DOF (3RPS) leg mechanism in parallel.

Figure 61 is the vertical view of second kind of 3DOF (3RRS) leg mechanism in parallel.

Figure 62 is the vertical view of the third 3DOF (3PRS) leg mechanism in parallel.

Figure 63 is the foot partial view (embodiment 54,55) of the robot of additional moving sets on the ankle-joint.

Figure 64, the 65th, embodiment 1 inside and outside formula structure 12 degree of freedom robot arch of foot vertical views and footprint schematic diagram.

Figure 66, the 67th, staggered form structure parallel robot arch of foot vertical view and footprint schematic diagram before and after embodiment 22,12 frees degree.

Figure 68 is embodiment 41 inside and outside formula structure 8 degree of freedom robot arch of foot vertical views and footprint schematic diagrames.Wherein (label symbol explanation: Fig. 3----Figure 68):

Outer leg upper mounting plate 1; Each side chain 2 of outer leg; Outer leg arch of foot 3; Interior leg upper mounting plate 4; Interior leg branch road 5; Interior leg arch of foot 6; The moving sets 7 that adds on the arch of foot; P subsidiary cylinder 7.1 on the arch of foot; The piston rod 1 of the moving sets on the arch of foot; The locating connector 8 of outer leg upper mounting plate and interior leg upper mounting plate; The single open chain 9 of the mixing of expansion; Parallel institution 9.1 on the single open chain of the mixing of expansion; Serial mechanism 9.2 on the single open chain of the mixing of expansion; The revolute pair 9.3 of foot on the single open chain of the mixing of expansion; The column parallel institution is 10.1a as outer leg; The column parallel institution is 10.1b as interior leg; Positive terrace with edge parallel institution is 10.2b as interior leg; Chamfered edge platform parallel institution is 10.3a as outer leg; Outer leg hip joint mount pad 1.1; Outer leg upper mounting plate framework 1.2; Outer leg hip joint: first (from top to bottom) kinematic pair---ball pair 1.3 on the outer leg side chain; Outer leg hip joint: first (from top to bottom) kinematic pair---revolute pair 1.3.1 on the outer leg side chain; Outer leg hip joint: first (from top to bottom) kinematic pair on the outer leg side chain--the parallel plane moving sets 1.3.2 of-axis and upper mounting plate; Outer leg hip joint: first (from top to bottom) kinematic pair on the outer leg side chain--the moving sets 1.3.3 that-axis is vertical with the upper mounting plate plane; Limited block 1.3.4 on the upper mounting plate moving sets; Second (from top to bottom) kinematic pair---moving sets 1.4 on the outer leg side chain; Second (from top to bottom) kinematic pair---revolute pair 1.4.1 on the outer leg side chain; Second (from top to bottom) kinematic pair--secondary 1.4.2 of-ball on the outer leg side chain; The ball pair of outer leg side chain foot is an ankle-joint 1.5; The compound spherical hinge of outer leg side chain foot is ankle-joint 1.5.1; Outer leg mix single open chain SPS side chain foot be installed in ball pair on another side chain connecting rod 1.7, not as ankle-joint 1.5.2; Secondary and second kinematic pair--the connecting rod 1.6 of moving sets of the ball of outer leg side chain topmost; The revolute pair of outer leg side chain topmost and second kinematic pair--the connecting rod 1.6.1 of-revolute pair; The connecting rod 1.6.2 of the revolute pair of outer leg side chain topmost and second kinematic pair-----ball pair; The connecting rod 1.6.3 of the revolute pair of outer leg side chain topmost and second kinematic pair-----moving sets; Secondary and second kinematic pair--the connecting rod 1.6.3 (Figure 31) of revolute pair of the ball of outer leg side chain topmost; The ball pair of outer leg side chain bottom and the connecting rod 1.7 of second kinematic pair-moving sets; The ball pair of outer leg side chain bottom and the connecting rod 1.7.1 of second kinematic pair-revolute pair; The ball pair of outer leg side chain bottom and the connecting rod 1.7.2 of second kinematic pair-ball pair; Outer leg arch arm 1.8; Outer leg ankle-joint mount pad 1.9; Outer legs and feet toe 1.10;

Interior leg hip joint mount pad 2.1; Interior leg upper mounting plate framework 2.2; Interior leg hip joint: first (from top to bottom) kinematic pair---ball pair 2.3 on the interior leg side chain; Interior leg hip joint: first (from top to bottom) kinematic pair---revolute pair 2.3.1 on the interior leg side chain; Interior leg hip joint: first (from top to bottom) kinematic pair on the interior leg side chain--the parallel plane moving sets 2.3.2 of-axis and upper mounting plate; Interior leg hip joint: first (from top to bottom) kinematic pair on the interior leg side chain--the moving sets 2.3.3 that-axis is vertical with the upper mounting plate plane; Second (from top to bottom) kinematic pair---moving sets 2.4 on the interior leg side chain; Second (from top to bottom) kinematic pair---revolute pair 2.4.1 on the interior leg side chain; Second (from top to bottom) kinematic pair--secondary 2.4.2 of-ball on the interior leg side chain; The ball pair of interior leg side chain foot is an ankle-joint 2.5; The revolute pair of interior leg side chain foot is ankle-joint 2.5.1; The connecting rod 2.6 of the revolute pair of interior leg side chain topmost and second kinematic pair-----moving sets; The connecting rod 2.6.1 of the revolute pair of interior leg side chain topmost and second kinematic pair-----revolute pair; The connecting rod 2.6.2 of the revolute pair of interior leg side chain topmost and second kinematic pair-----ball pair; The ball pair of interior leg side chain bottom and the connecting rod 2.7 of second kinematic pair-moving sets; The ball pair of interior leg side chain bottom and the connecting rod 2.7.1 of second kinematic pair-revolute pair; The ball pair of interior leg side chain bottom and the connecting rod 2.7.2 of second kinematic pair-ball pair; Interior leg arch arm 2.8; Interior leg ankle-joint mount pad 2.9; Interior legs and feet toe 2.10; F1, F2, F3 represent interior leg hip joint mount pad; F4, F5, F6 represent interior leg ankle-joint mount pad; N1, N2, N3 represent outer leg hip joint mount pad; N4, N5, N6 represent outer leg ankle-joint mount pad.

The embodiment type declaration

Embodiment 1-embodiment 23 is 12 frees degree, inside and outside formula walking robot;

Embodiment 24-embodiment 32 is 12 frees degree, front and back formula walking robot;

Embodiment 33-embodiment 52 is walking robots of inside and outside formula or front and back formula, the combination of various lower-mobility;

Embodiment the 34,36,37,42,43,44, the 45th, can only carry out the intermittently robot scheme of walking (can be straight path);

Embodiment 46-50 can only carry out the intermittently robot scheme of walking of wave;

Embodiment 51 is stage body formula walking robots;

Embodiment 52 contains the walking robot that mixes single open chain;

Embodiment 53-embodiment 54 is the walking robots that add kinematic pair on the arch of foot;

Embodiment the 55, the 56th, adds the walking robot of end effector on the upper mounting plate.

The specific embodiment

Embodiment 1

According to Fig. 3-shown in Figure 8, be that a kind of side chain is the inside and outside formula structure of SPS, inside and outside formula structure walking robot, outer leg is the convex annular arch of foot, interior leg is the protruding arch of foot of Y shape.Embodiment 1 is made by two 6SPS, 6DOF parallel institution.The parallel institution of 6DOF is made up of upper mounting plate, lower platform and six SPS side chains being connected lower platform.(no matter size of the said parallel institution of this paper all is to observe relatively from vertical view, and the size of height from vertical view, promptly only compare lateral dimension), a parallel institution is bigger, and a parallel institution is less, bigger be called outer leg, the less interior leg (as follows) that is called.Outer leg is a chamfered edge platform shape, and interior leg is positive terrace with edge shape (upper mounting plate hip joint polygon is less, and lower platform ankle-joint polygon is bigger).The polygonal phase difference of the two hip joint is 60 degree, and outer leg upper mounting plate is higher than interior leg upper mounting plate, and the projection of the polygonal center of the two hip joint on horizontal plane overlaps.The two upper mounting plate is fixed together by connector 8.Six hip joints 1.3 of outer leg are divided into three groups, two every group.Three groups of hip joints 1.3 of outer leg are installed in respectively near the summit of outer leg upper mounting plate 1 triangular framing 1.2, and three groups of hip joint mount pads 2.1 of interior leg are divided into three groups, two every group, are arranged near the mid point 2.1 on big leg-of-mutton each limit of outer leg.Three toes 1.10 of outer leg are distributed near the summit of a bigger triangle (circumradius is Ra), and outer leg is the protruding arch of foot 3 of annular abduction formula; Three ankle-joint mount pads 2.9 of interior leg are positioned near the top of a less triangle (circumradius is Rb), and interior leg is the protruding arch of foot 6 of Y shape.Each side chain 5 of interior leg is the SPS type.Each side chain 2 of outer leg is the SPS type.Interior leg and outer leg all are the parallel institutions of symmetry.As can be seen, interior leg is positioned at the centre of outer leg, and in the motion, interior leg, outer leg do not disturb mutually.The toe of outer leg and the side chain of interior leg and toe all have bigger free activity space, and compact conformation.Toe is under its corresponding ankle-joint, so the toe polygon overlaps basically with the ankle-joint polygon.Toe is made by elastomeric material, is hemispherical.

The upper mounting plate 1 of outer leg (Fig. 3) is that 1.2,3 hip joint mount pads 1.1 of (standard) triangular framing are positioned on the angle of triangular framing, and two hip joints 1.3 are installed on each hip joint mount pad 1.1.6 branch roads 2 are SPS (P represents the broad sense moving sets, and S represents spherical pair, and is as follows).P pair 1.4 is driving pair, and the S pair is passive pair, and top S secondary 1.3 is connected by rod member 1.6 with P pair 1.4, and bottom S pair 1.5 is connected by rod member 1.7 with P pair 1.4.The ball pivot 1.3 on each branch road top is divided into three groups, adopts accurate triangular arrangement, and two every group, be connected on the hip joint mount pad 1.1, two adjacent side chains are V-shaped.Bottom ball pivot 1.5 also is divided into three groups, also adopts accurate triangular arrangement, two every group, is connected on three ankle-joint mount pads 1.9 of hexagon arch of foot 3.It under the ankle-joint mount pad 1.9 toe 1.10.The vertical view of arch of foot 3 is a hexagon, and arch of foot 3 is abduction formula convex arch of foots, and single arch arm 1.8 is an inverted V-shaped.Three inverted V-shaped branch pieces are fixed together, and three connecting portions have ankle-joint mount pad 1.9.From Fig. 5 and Fig. 6 as can be seen, the core of this parallel institution has an interference-free space.This parallel institution is the positive terrace with edge shape parallel institution (so, only mark a branch) of symmetry.Functions such as this parallel connection leg mechanism can be finished and stand, omnidirectional moves one's steps and turn to arbitrarily.It is under situation about not turning to that omnidirectional moves one's steps, and also can advance or retreats to any direction.

The upper mounting plate 4 of interior leg (Fig. 5) is a triangular framing 2.2, and hip joint mount pad 2.1 is positioned on the angle of triangular framing.6 branch roads 5 are SPS (two bars, three pairs), and P pair 2.4 is driving pair, and the S pair is passive pair, and spherical pair can be used compound spherical hinge.Top S secondary 2.3 is connected by rod member 2.6 with P pair 2.4, and bottom S pair 2.5 is connected by rod member 2.7 with P pair 2.4.The upper end of 6 side chains 5 is installed on the upper mounting plate 4 by three compound spherical hinges 2.3.The lower end of 6 branch roads is installed on the arch of foot 6 by three compound spherical hinges 2.5.Arch of foot 6 is the protruding arch of foots of cohesive type Y shape.Arch of foot has three branches 2.8, and the outer end of branch is ankle-joint mount pad 2.9 and toe 2.10.As can be seen from Figure 7, the foot arch part of interior leg is positioned at the centre of each side chain, and in the motion, there is the space of an interference-free or less interference the less or outside of not exposing parallel institution of arch of foot, its outside.This parallel institution is the positive terrace with edge shape mechanism of symmetry

Toe is under ankle-joint, and the toe polygon overlaps basically with the ankle-joint polygon.Outer leg ankle-joint polygon overlaps with the projection of interior leg ankle-joint polygon on horizontal plane is most of.The projection of leg ankle-joint polygon on horizontal plane in the projection of outer in other words leg ankle-joint polygon on horizontal plane comprises.The common, stable polygon is exactly interior legs and feet toe triangle.(other embodiment also is like this to center of gravity at the polygonal center of common, stable.) generally, for inside and outside formula walking robot in parallel, outer leg hip joint polygon overlaps with the projection of interior leg hip joint polygon on horizontal plane is also most of.

From vertical view, two arch of foots have adopted small one and large one, an outer configuration mode in.In the scopes of 60 degree two side chains are arranged between the toe on toe on the outer leg and the adjacent interior leg, one outer, and one inner, and the two is non-intersect.The phase difference of two parallel institutions is 60 degree.The gap of adjacent side chain is comparatively balanced.

About the height of robot, generally, during the neutral position, the toe plane of two parallel institutions is (other robot is also like this) on a horizontal plane, upper mounting plate can height can be low or highly identical.The mark of not quoting among the embodiment, symbol are asked for an interview LIST OF REFERENCES, down together.

Embodiment 2

Be that a kind of side chain is the recessed arch of foot walking robot of leg Y shape in inside and outside formula structure, the 2x 6DOF of SPS, the recessed arch of foot of outer leg annular add.Change the protruding arch of foot of the hexagon of the outer leg among the embodiment 1 into annular recessed arch of foot, the protruding arch of foot of Y shape of interior leg changes the recessed arch of foot of Y shape into, is exactly the walking robot of embodiment 2.

In Figure 10, arch of foot 3 is outer leg arch of foots, and it is annular recessed arch of foot, is positioned at leg arch of foot periphery.It is made up of three arch arm 1.8, and three arch arm form loop configuration, and the top of arch of foot is that the arch of foot bottom between 1.9, two ankle-joint mount pads of ankle-joint mount pad is a toe 1.10.Arch of foot 6 is interior leg arch of foots, and it is the recessed arch of foot of Y shape, is positioned among the encirclement of outer leg arch of foot.It is made up of three arch arm 2.8, and three arch arm form Y shape structure, and the top, outer end of arch of foot 6 is ankle-joint mount pads 2.9, and the bottom of arch of foot is a toe 2.10.Between the various piece of outer leg arch of foot and interior leg arch of foot suitable distance is arranged all.

Embodiment 3

Be that a kind of side chain is inside and outside formula structure, the 2x6DOF walking robot of SPS.Figure 11 is the secondary vertical view of the arch of foot of embodiment 3.Change the protruding arch of foot of the hexagon of the outer leg among the embodiment 1 into hexagon flatfoot bow, the protruding arch of foot of Y shape of interior leg changes hexagon flatfoot bow into, is exactly the walking robot of embodiment 3.

In Figure 11, arch of foot 3 is outer leg arch of foots, and it is a hexagon flatfoot bow, is positioned at leg arch of foot periphery.It is made up of three arch arm 1.8, and three arch arm form loop configuration, and the top of arch of foot is that the arch of foot bottom between 1.9, two ankle-joint mount pads of ankle-joint mount pad is an in-line big toe 1.10.Arch of foot 6 is interior leg arch of foots, and it is a hexagon flatfoot bow, is positioned among the encirclement of outer leg arch of foot.It is made up of three arch arm 2.8, and three arch arm form the shape structure, and the top, outer end of arch of foot 6 is ankle-joint mount pads 2.9, and the bottom of arch of foot is a toe 2.10.Between the various piece of outer leg arch of foot and interior leg arch of foot suitable distance is arranged all.In embodiment 3, toe is in the centre of two ankle-joints, and toe polygon and ankle-joint polygon are inequality.Toe is made by elastomeric material, is in-line (rectangle).

Embodiment 4

Be that a kind of side chain is that the inside and outside formula structure of SPS, 2x 6DOF, Y shape arch of foot add Y shape arch of foot walking robot (Figure 12-14).Clear in order to express in Figure 13, only drawn kinematic pair, arch of foot, toe with cutting plane next-door neighbour have saved kinematic pair far away, arch of foot, toe.Embodiment 4 is transformed by embodiment 1 and forms.Compare with embodiment 1, the outer leg of embodiment 4 has also used the protruding arch of foot of Y shape.All the other are identical with embodiment 1.

As can be seen from Figure 14,, guarantee that the toe of outer leg, interior leg all has bigger working space, about 60 degree of angle between the adjacent branch of two arch of foots in order to prevent the interference of two arch of foots 3,6.Two arch of foots have adopted small one and large one, one high and one low configuration mode.The Y shape arch of foot of outer leg is lower, but bigger, and the Y shape arch of foot of interior leg is than higher, but less.The height of the core of outer leg and interior leg is such: when outer leg is raised to when the highest and the Dang Nei leg is lowered into when minimum, the two just bump less than.As can be seen from Figure 12, the hip joint mount pad of outer leg, with the ankle-joint mount pad of interior leg on a vertical plane (this vertical plane is crossed the axes O of parallel institution).In other words, the hip joint mount pad of interior leg is with the ankle-joint mount pad (embodiment 1 also has these characteristics) on a vertical plane of outer leg.Can think that phase difference is the example of 180 degree.

Embodiment 5

Be that another kind of side chain is the protruding arch of foot of leg Y shape SPS, outer+protruding arch of foot of interior leg Y shape, the inside and outside formula structure walking robot of phase difference 0 degree.Figure 15 is the stereogram of the arch of foot pair of embodiment 5.

In embodiment 4, make the following changes: with interior leg arch of foot step-down, outer leg arch of foot uprises, and interior leg arch of foot integral body is positioned at the below of outer leg arch of foot, the two relatively rotate 60 the degree, interior leg arch of foot just in time outside the leg arch of foot under, vertical view looks and overlaps basically.The related side chain of upper mounting plate also rotates identical angle.Promptly the ankle-joint triangle of two legs is synchronous, and the hip joint triangle of two legs also is synchronous.So, form embodiment 5.

Embodiment 6

Embodiment 4 (Figure 12) is done following change: the toe N4 (Figure 12) on outer leg right side is moved on to the center O point, and side chain N1N4 and N2N4 also make corresponding mobile.After moving, the N1N4 side chain is positioned at the top of toe F4.The N2N4 side chain is positioned at the top of toe F5.Interior leg arch of foot changes the V-arrangement arch of foot into, opening to the right, outer leg arch of foot changes the V-arrangement arch of foot into, opening left, the arch of foot pair is seen Figure 17.About 0.2 (Ra+Rb) of distance between the axis of two parallel institutions.The schematic diagram of embodiment 6 (vertical view) is seen Figure 16.In embodiment 6 and embodiment 7, interior leg and outer leg are not easily distinguishable, and can simply call outer leg to bigger parallel institution, and less parallel institution is called interior leg.

Embodiment 7

Embodiment 4 (Figure 12) is done following change: toe N4 is moved to the left outer leg right side, the mid point of legs and feet toe F4, F5 in moving on to, originally on a mount pad two ankle-joints of (being respectively N1 and N2) separately, the top hip joint mount pad of side chain N1N4 and N2N4 about 0.25 (Ra+Rb) that move right.After moving, a mount pad N1 has originally become two mount pad N11 and N12.After moving, the N1N4 side chain still is positioned at the left side of F1F4 side chain, and bigger spacing is arranged, and the two can not interfered.The N2N4 side chain still is positioned at the left side of F1F5 side chain, and bigger spacing is arranged, and the two can not interfered.Interior leg arch of foot and outer leg arch shape are constant, and size slightly adjusts.About 0.2 (Ra+Rb) of distance between the axis of two parallel institutions.From overlooking Figure 18, the line of the line of N1 and F1 and N4 and F4 is simultaneously perpendicular to axis of symmetry N3F1.So, during along the direction walking of N1F1 straight line, have only two tracks.Usually, during robot motion of the present invention, six tracks are arranged at most, during particular orientation, three tracks are arranged also.Through above-mentioned special design, can realize the dual trace motion, promptly toe is distributed on two parallel lines.Figure 19 has provided the another kind of arch of foot combination of embodiment 7: outer leg arch of foot changes W shape into, and other is constant.

Generally speaking, most of arch of foots see all have a symmetry axis at least at vertical view, and when two arch of foots formed an arch of foot pair, two symmetry axis overlapped.

Figure 16-19 has schematically expressed the primary structure feature of embodiment 6,7, and dotted line and double solid line are partly represented interior leg, and solid line is partly represented outer leg.Double solid line is interior leg Y shape arch of foot.

The parallel institution of column, positive terrace with edge and three kinds of shapes of chamfered edge platform parallel institution has 18 kinds of arrangements as interior leg, outer leg: comprise nine kinds of inside and outside formulas, nine kinds of gauche forms.No matter be inside and outside formula, or the gauche form parallel robot, can use this 18 kinds of arrangements, technical, do not have difficulties.In the actual design, according to concrete design objective, version of side chain or the like factor is determined.For example, in embodiment 1-5 and embodiment 24-32, according to the concrete design objective and the structure of side chain, each parallel institution can be chosen a kind of in three kinds of shapes freely.Other lower-mobility robot scheme is free to choose a kind of in three kinds of shapes equally.Technically do not have a too big difficulty.Figure 23, Figure 24, Figure 25 have provided three kinds and have more typically arranged schematic diagram.Among Figure 23,24,25, the column parallel institution is 10.1a as outer leg, and the column parallel institution is 10.1b as interior leg, and positive terrace with edge parallel institution is 10.2b as interior leg, and chamfered edge platform parallel institution is 10.3a as outer leg, and the connector of two parallel institutions is 8.

Embodiment 8

As Figure 20---shown in Figure 22, be that side chain is the inside and outside formula structure walking robot of two 6DOF leg mechanism formation in parallel of PSS.Interior leg arch of foot is the recessed arch of foot of Y shape, and outer leg arch of foot is the protruding arch of foot of hexagon shape.The parallel institution of 6DOF is made up of upper mounting plate, lower platform and six PSS side chains being connected lower platform.Two 6PSS leg mechanism structures in parallel, except arch of foot, other is all identical.The P pair of 6-PSS leg mechanism is tangentially moved.Interior leg arch of foot is the recessed arch of foot of Y shape (this is the arch of foot of a variation), and outer leg arch of foot is convex annular arch of foot (hexagon).Outer leg is big, and interior leg is little.Outer leg is chamfered edge platform shape, and is higher, and interior leg is positive terrace with edge shape, and is lower.The axis of two parallel institutions overlaps.The upper mounting plate of two leg mechanisms connects firmly together.The toe triangle of two parallel institutions adopts same-phase to arrange.The toe of interior leg is below ankle-joint mount pad and arch of foot; The toe of outer leg is below the ankle-joint mount pad.The spill arch of foot has been expanded activity space to the bottom, and the convex arch of foot has been expanded activity space to top, and therefore, the cooperation of the two makes two parallel institutions that more sufficient free activity space all arranged.

Upper mounting plate 4 is hexagonal structures 2.2,2.4,6 P pairs of 6 P pairs is installed on its plane lays respectively on hexagonal six limits, and the axis direction of moving sets P tangentially.Hip joint mount pad 2.1 is positioned on the moving sets P.6 branch roads 5 are PSS, and the P pair is a driving pair, and the S pair is passive pair., be connected by rod member 2.6 between S secondary 2.3 and the S pair 2.5.Arch of foot 6 is a Y shape, and bottom ball pivot 2.5 is divided into three groups, and every group of two common ball pivots form accurate triangular arrangement.There are three ankle-joint mount pads 2.9 outer end of three branches 2.8 of Y shape arch of foot 6.Toe 2.10 is below the arch arm outer end.This parallel institution also is the parallel institution of symmetry.

Among Figure 21, the less regular hexagon in middle part is interior leg upper mounting plate.The bigger regular hexagon in middle part is outer leg upper mounting plate.Less orthohexagonal inside is inner leg portion.Bigger orthohexagonal outside is outer shank branch.Two upper mounting plates connect firmly together by connector 8.

The outer leg of embodiment 8 and interior leg structural similarity: except arch of foot different and whole less, other is all identical.Upper mounting plate 4 is hexagonal structures 1.2,1.4,6 P pairs of 6 P pairs is installed on its plane lays respectively on hexagonal six limits, and the axis direction of moving sets P tangentially.Hip joint mount pad 2.1 is positioned on the moving sets P.6 branch roads 5 are PSS, and the P pair is a driving pair, and the S pair is passive pair., be connected by rod member 1.6 between S secondary 1.3 and the S pair 1.5.Arch of foot 3 is an annular, and bottom ball pivot 1.5 is divided into three groups, and every group of two common ball pivots form accurate triangular arrangement.There are three ankle-joint mount pads 1.9 outer end of three branches 1.8 of annular arch of foot 3.It under the ankle-joint mount pad 1.9 toe 1.10.This parallel institution also is the parallel institution of symmetry.Interior leg is a chamfered edge platform shape parallel institution.Outer leg is positive terrace with edge shape parallel institution.

Embodiment 9

Be that side chain is the walking robot in parallel of the recessed arch of foot of leg hexagon flatfoot bow+interior leg Y shape (mixing) PSS, outer.Change the protruding arch of foot of hexagon of the outer leg among the embodiment 8 (Figure 20-22) into the horseshoe clamp arch of foot, the recessed arch of foot of Y shape of interior leg changes the horseshoe clamp arch of foot into, and two arch of foot U-shaped openings are opposite, and interior leg is suitably increased, and is exactly the walking robot of embodiment 9.

Embodiment 10

Be the semi-circular protruding arch of foot of outer leg+interior leg Y shape flatfoot bow, side chain is the walking robot in parallel of PSS.Change the protruding arch of foot of the hexagon of the outer leg among the embodiment 8 into C shape protruding arch of foot, the recessed arch of foot of Y shape of interior leg changes the protruding arch of foot of Y shape into, and interior leg is suitably increased, and is exactly the walking robot of embodiment 10 (referring to Figure 20-22 and Figure 11).

Embodiment 11

Be that second kind of side chain is the inside and outside formula structure walking robot of two 6DOF leg mechanisms in parallel (Figure 26) formation of PSS.The parallel institution of embodiment 8 is done following variation: the upper mounting plate of hexagonal structure is changed to the upper mounting plate of circular configuration, and moving sets is become along circular motion by rectilinear motion, is exactly the used parallel institution (Figure 26) of embodiment 10.Two adjacent moving sets separate with limited block 1.3.4.The secondary configuration of arch of foot is such: outer leg is the protruding arch of foot of Y shape, and interior leg arch of foot is the protruding arch of foot of hexagon.The protruding arch of foot of outer leg Y shape is lower, and the protruding arch of foot of interior leg hexagon is higher.Interior leg all stretches out, when outer leg is all regained, two arch of foots are not interfered.This is another kind of arch of foot pair has intersection point on vertical view an arch of foot pair.Adopted small one and large one equally, one high and one low configuration mode.From vertical view, outer leg is big, and interior leg is little.Outer leg is a chamfered edge platform shape, and interior leg is positive terrace with edge shape.The axis of two parallel institutions overlaps.Phase difference is 60 degree.The upper mounting plate of two leg mechanisms connects firmly together.The P pair is a driving pair, and the S pair is passive pair.

Embodiment 12

Be that the third side chain is the inside and outside formula structure walking robot (Figure 27,28,29) of two 6DOF parallel institutions formations of PSS (the secondary radial motion of P).Outer leg C shape abduction formula flatfoot bow+interior leg (Figure 27) cohesive type A shape flatfoot bow.Arrow is represented the swaying direction of driving pair among Figure 27,28.Interior leg parallel institution is made up of upper mounting plate, lower platform and six identical PSS side chains being connected lower platform.Upper mounting plate 4 is hexagonal-shaped frame structures 2.2, and 6 P pairs 2.4 are installed on its plane.The axis of P pair in the upper mounting plate plane or with the upper mounting plate plane parallel, the P pair is radially moved (center of above platform framework is the center of circle), secondary two one group of P, same group of distance is closer, and is parallel to each other.Arch of foot is an A shape plane arch of foot.Toe is a splayed.Hip joint mount pad 2.1 is on the upper mounting plate hexagonal-shaped frame.6 branch roads 5 are PSS, and the P pair is a driving pair, and the S pair is passive pair.Be connected by rod member 2.6 between S secondary 2.3 and the S pair 2.5.Arch of foot 6 is an A shape cohesive type arch of foot, and bottom ball pivot 2.5 is divided into three groups, and every group of two common ball pivots form accurate triangular arrangement.There are three ankle-joint mount pads 2.9 outer end of two branches 2.8 of A shape arch of foot 6.It under the ankle-joint mount pad 2.9 toe 2.10.This parallel institution also is the parallel institution of symmetry.

Leg Y shape arch of foot in Figure 27 is changed to annular arch of foot, the whole amplification, but constant highly substantially or slightly amplification has just formed outer leg.Outer leg outside, interior leg is interior, the two dead in line.Outer leg upper mounting plate is last, and interior leg upper mounting plate is following, and the angle between the adjacent P secondary axis of outer leg upper mounting plate and interior leg upper mounting plate is 60 degree.The two connects firmly together.P pair on the interior leg is moved in justifying (Rk), and the P pair of outer leg is moved in that this circle (Rk) is outer, and limited block 1.3.4 has limited the range of movement of P pair, guarantees that the two does not interfere (Figure 28).Angle between three groups of P pairs on the same leg is 120 degree.Platform framework is two hexagonal-shaped frame, connects six groups of 12 P pairs on it.Outer leg arch of foot is enough big, and interior leg is enough enough little, guarantees that the two does not interfere.The phase place of two parallel institutions is to differ 60 degree.The gap of adjacent side chain is comparatively balanced.

Embodiment 13

Be that side chain is the robot of PSS.Reference example 12 is changed to the protruding arch of foot of Y shape to interior leg (Figure 27) the A shape flatfoot of embodiment 12 bow, and the outer leg annular flat arch of foot of embodiment 12 is changed to semi-circular protruding arch of foot (with reference to Figure 29), and toe is arranged on the ankle-joint below, and other is constant, forms embodiment 13.

Embodiment 14

Reference example 12 is changed to the horseshoe clamp arch of foot to interior leg (Figure 27) the A shape flatfoot of example 12 bow, and outer leg is the recessed arch of foot of U-shaped, and toe is arranged on the below at arch arm middle part, and two U-shaped arch of foot openings are opposite, dead in line, and other is constant, forms embodiment 14.Each arch of foot all has two " 1 " word toes that are parallel to each other, and four toes are parallel to each other.

Embodiment 15

It is the inside and outside formula walking robot (Figure 30, Figure 31, Figure 32) in parallel that a kind of parallel institution that is the 6DOF of RSS by two side chains is formed.Interior leg (Figure 30) triangle cohesive type flatfoot bow+outer crural triangle shape flatfoot bow.Arrow is represented the swaying direction of driving pair among Figure 30.

Interior leg (Figure 30) upper mounting plate 4 is equilateral triangle frame structures 2.2, on three limits of this equilateral triangle, 2.4,6 branch roads 5 of 6 R pairs is installed is RSS.The axis of the R pair of 6-RSS leg mechanism overlaps with three limits of equilateral triangle respectively, two R pairs are arranged on each limit, two R pairs are all near the mid point on limit, the connecting rod of the S pair on R pair and himself side chain is a first connecting rod 2.6, the R pair is a driving pair, and the S pair is passive pair., R is secondary to rotate, first connecting rod rotates, and drives the lower platform motion.In theory, the R pair can be rotated 360 degree continuously, and in fact, R is secondary as long as swinging up and down of horizontal plane can realize desired 6DOF motion below 90 degree.S secondary with the S pair between be connected by second connecting rod 2.7.The length of connecting rod 2.7 is greater than more than two times of connecting rod 2.6 length.Interior leg arch of foot 6 is triangle projective planum arch of foots.Secondary and the middle S pair of R has constituted the hip joint of this leg, and the hip joint mount pad is the Connection Block 2.1 of R pair and triangle upper mounting plate.The bottom ball pivot 2.5 of side chain is divided into three groups, two every group, connecting on the ankle-joint mount pad, forms accurate triangular arrangement with common ball pivot.It under the ankle-joint mount pad 2.9 toe 2.10.This parallel institution also is the parallel institution of symmetry.

The triangle arch of foot of the parallel institution of Figure 30 is changed to annular arch of foot, the whole amplification, but constant highly substantially or slightly amplification has just formed outer leg.Outer leg outside, interior leg is interior, the two dead in line.Outer leg upper mounting plate is last, and interior leg upper mounting plate is descending the plane parallel of outer leg upper mounting plate and interior leg upper mounting plate.The upper mounting plate triangle of outer leg is bigger, and the upper mounting plate triangle of interior leg is less, and the upper mounting plate of outer leg is higher, the upper mounting plate of interior leg lower, and the axis of corresponding R pair is parallel.The phase place of two parallel institutions is that same-phase is arranged.The two connects firmly together at place, two leg-of-mutton angles 8.The interior side oscillation of platform triangle thereon of the R pair of interior leg, the outer side oscillation of platform triangle thereon of the R pair of outer leg.Hunting range is up and down about 50 degree of horizontal plane.

Outer leg ankle-joint polygon overlaps with the projection of interior leg ankle-joint polygon on horizontal plane is most of.The gap of two adjacent side chains of parallel institution is comparatively balanced.

Embodiment 16

Be that side chain is the walking robot (referring to Figure 30,31,32) of RSS, the protruding arch of foot of outer leg Y shape cohesive type+interior leg cohesive type triangular planar arch of foot.The interior crural triangle shape flatfoot bow of embodiment 15 is changed to the triangular planar arch of foot, and outer crural triangle shape flatfoot bow is changed to the protruding arch of foot of Y shape, and outer leg arch of foot is higher, and interior leg arch of foot is lower.Toe is arranged on the ankle-joint below, and other is constant, forms embodiment 16.

Embodiment 17

Be that side chain is the walking robot of RSS, the protruding arch of foot of outer leg Y shape+recessed arch of foot of interior leg annular.With reference to Figure 30,31,32, the interior crural triangle shape flatfoot bow of embodiment 15 is changed to annular recessed arch of foot, the outer leg annular flat arch of foot of embodiment 15 is changed to the protruding arch of foot of Y shape, toe is arranged on the below of arch of foot, and other is constant, forms embodiment 17.

Embodiment 18

Be that second kind of side chain is the inside and outside formula structure walking robot (Figure 33, Figure 34, Figure 35) of two 6DOF leg mechanism formation in parallel of RSS.Outer leg O form flatfoot bow+interior leg O shape flatfoot bow.Arrow is represented the swaying direction of driving pair among Figure 33,34.

Outer leg parallel institution (Figure 33) is made up of upper mounting plate, lower platform and six identical RSS side chains being connected lower platform.Upper mounting plate 1 is a circular frame structure 1.2,6 hip joint mount pads 1.1 of uniform installation and 6 R pairs 1.3 around it.The axis of the R pair of 6-RSS leg mechanism is on the same circumference of upper mounting plate, and is and vertical with the upper mounting plate plane, and the connecting rod of the S pair that R is secondary with middle can be swung among a small circle, and six R pairs are distributed on the same circumference, and the R pair is a driving pair.Secondary and the middle secondary 1.4.2 of S of R has constituted the hip joint of this leg, and the hip joint mount pad is the Connection Block 2.1 of R pair and circular upper mounting plate.6 branch roads 2 are RSS, and the R pair is a driving pair, and the S pair is passive pair., be connected by rod member 1.6 between secondary 1.4.2 of S and the S pair 1.5.Arch of foot 3 is annular abduction formula arch of foot, and the bottom ball pivot 1.5 of side chain is divided into three groups, two every group, be connected with common ball pivot on three groups of ankle-joint mount pads of annular arch of foot, and form accurate triangular arrangement.Arch of foot is the planar annular arch of foot.It under the ankle-joint mount pad 2.9 toe 2.10.This parallel institution also is the parallel institution of symmetry.

Parallel institution integral body shown in Figure 33 is dwindled, but constant highly substantially or slightly dwindle, just formed interior leg.Outer leg outside, interior leg is interior, the two dead in line.Outer leg upper mounting plate is last, and interior leg upper mounting plate is descending the plane parallel of outer leg upper mounting plate and interior leg upper mounting plate.The upper mounting plate circle of outer leg is bigger, and the upper mounting plate circle of interior leg is less, and the upper mounting plate of outer leg is higher, the upper mounting plate of interior leg lower.The two connects firmly together by connector 8.The upper mounting plate of outer leg is higher, and the radius of the annular upper mounting plate of outer leg is bigger, and the first connecting rod of outer leg is longer.The upper mounting plate of interior leg is lower, and the radius of the annular upper mounting plate of interior leg is less, and the first connecting rod of interior leg is shorter, the annular upper mounting plate of two parallel institutions be fixed together (dead in line).The center of the annular upper mounting plate of secondary 1.4 distances of the S in the middle of on the outer leg side chain is far away, and the center of the annular upper mounting plate of the secondary distance of S in the middle of on the interior leg side chain is nearer, mutually noninterfere when first and second connecting rod of outer leg and interior leg is swung among a small circle in horizontal plane.About hunting range 90 degree.

Outer leg is the protruding arch of foot 3 of annular abduction formula, and the annular arch of foot of outer leg is bigger; The annular arch of foot of interior leg is less; Outer leg is fully big, and interior leg is suitably little, guarantees that the two does not interfere.

Outer leg ankle-joint polygon overlaps with the projection of interior leg ankle-joint polygon on horizontal plane is most of.Outer leg hip joint polygon also is most of the coincidence with the projection of interior leg hip joint polygon on horizontal plane.

The phase difference of two parallel institutions is 30 degree.The phase difference of these two parallel institutions can change arbitrarily in 0---360 degree scope.But phase difference is that 60 degree or 0 degree are preferred version, and the gap of adjacent side chain is more greatly and comparatively balanced.Two parallel institutions among this embodiment can be arranged its phase difference arbitrarily.The 0-360 degree all is feasible scheme.Phase difference is that the scheme of 60 degree and 0 degree is best.

Embodiment 19

Be that side chain is the inside and outside formula structure walking robot of two 6DOF leg mechanism formation in parallel of RSS.It is the robot of the recessed arch of foot of outer leg O form+protruding arch of foot of interior leg O shape.With reference to Figure 33, Figure 34, Figure 35, the interior leg O shape flatfoot bow of embodiment 18 is changed to the recessed arch of foot of O shape, outer leg annular flat arch of foot is changed to the convex annular arch of foot, and toe is arranged on the ankle-joint below, and other is constant, forms embodiment 19.

Embodiment 20

It is the parallel robot recessed arch of foot of outer leg U-shaped formula+recessed arch of foot of interior leg U-shaped, that have two " 11 " shape toes.With reference to Figure 33, Figure 34, Figure 35, the interior leg O shape flatfoot bow of embodiment 18 is changed to the recessed arch of foot of U-shaped, the outer leg annular flat arch of foot of embodiment 18 is changed to the recessed arch of foot of U-shaped, toe is arranged on the below of arch of foot, phase difference 180 degree, other is constant, forms embodiment 20.

Embodiment 21

Be that the third side chain is the inside and outside formula structure walking robot of two 6DOF leg mechanism formation in parallel of RSS.Outer leg (Figure 36) is the protruding arch of foot of O form, and interior leg is the protruding arch of foot of Y shape.

Outer leg parallel institution is made up of upper mounting plate, lower platform and six identical RSS side chains being connected lower platform.Upper mounting plate 1 is a hexagonal-shaped frame structure 1.2, and 6 hip joint mount pads 1.1 and 6 R pairs 1.3 are installed around it.The axis of R pair is in the upper mounting plate plane, and the axis of six R pairs is the center O by upper mounting plate all.Six R pairs are divided into three groups, and two every group, the secondary close together of same group R.The connecting rod of the S pair 1.4 that R is secondary with middle can swing up and down among a small circle.Two connecting rods on same group the R pair are distributed in the left and right sides, and two connecting rods can be in the swing among a small circle up and down of horizontal plane.The two mutually noninterfere.Six R pairs are distributed on the same circumference, and the R pair is a driving pair.Secondary 1.3.1 of R has constituted the hip joint of this leg, and the hip joint mount pad is the Connection Block 2.1 of R pair and hexagon upper mounting plate.The S pair is passive pair, is connected by the first rod member 1.7.2 between secondary 1.4.2 of S and the S pair 1.5.Be connected by the first rod member 1.6.2 between secondary 1.3.1 of R and the secondary 1.4.2 of S.First connecting rod is shorter.Second connecting rod 1.7.2 is longer.

Arch of foot 3 is an O shape abduction formula arch of foot, and bottom ball pivot 1.5 is divided into three groups, two every group, be connected with common ball pivot on three groups of ankle-joint mount pads of annular arch of foot, and form accurate triangular arrangement.It under the ankle-joint mount pad 2.9 toe 2.10.This parallel institution also is the parallel institution of symmetry.

The parallel institution of Figure 36 annular arch of foot is changed to Y shape arch of foot, and integral body is dwindled, but constant highly substantially or slightly dwindle, and has just formed interior leg.Outer leg outside, interior leg is interior, the two dead in line.Outer leg upper mounting plate is last, and interior leg upper mounting plate is descending the plane parallel of outer leg upper mounting plate and interior leg upper mounting plate.The upper mounting plate hexagon of outer leg is bigger, and the upper mounting plate hexagon of interior leg is less, and the upper mounting plate of outer leg is higher, the upper mounting plate of interior leg lower.The two connects firmly together.Secondary 1.4.1 of R is far away apart from the center of upper mounting plate on the outer leg side chain, and the R pair on the interior leg side chain is nearer apart from the center of hexagon upper mounting plate.Mutually noninterfere during first and second connecting rod swing of outer leg and interior leg.The first connecting rod hunting range under platform plane 90 the degree in.

The annular arch of foot of outer leg is bigger; The Y shape arch of foot of interior leg is less; Outer leg is fully big, and interior leg is suitably little, guarantees that the two does not interfere.Two parallel institutions all are the column parallel institutions.Outer leg ankle-joint polygon overlaps with the projection of interior leg ankle-joint polygon on horizontal plane is most of.Outer leg hip joint polygon also has major part to overlap with the projection of interior leg hip joint polygon on horizontal plane.Two parallel institutions adopt same-phase to arrange.The gap of adjacent side chain is comparatively balanced.

Embodiment 22

Be that a kind of side chain is the walking robot of the inside and outside formula structure of SRS, the protruding arch of foot of outer crural triangle shape, the protruding arch of foot of interior leg Y shape.Figure 37 is the interior leg stereogram of embodiment 22.This is that a kind of side chain is the parallel institution of the 6DOF of SRS.It is made up of upper mounting plate, lower platform and six identical SRS side chains being connected lower platform.

The upper mounting plate 1 of interior leg (Figure 37) is that 1.2,3 groups of hip joint mount pads 1.1 of annular frame are positioned on the summit of an equilateral triangle on the annular frame, and two hip joints 1.3 are installed on each hip joint mount pad.6 branch roads 2 are SRS (R represents revolute pair, and S represents spherical pair).Secondary 1.4.1 of R is a driving pair, and the S pair is passive pair, and top S secondary 1.3 is connected by rod member 1.6 with the R pair, and bottom S pair 1.5 is connected by rod member 1.7 with the R pair.The ball pivot on each branch road top is divided into three groups, adopts accurate triangular arrangement, two every group, is connected on the hip joint mount pad.Bottom ball pivot 1.5 also is divided into three groups, also adopts accurate triangular arrangement, and two every group, on three ankle-joint mount pads 1.9.It under the ankle-joint mount pad toe 1.10.Arch of foot 3 is the protruding arch of foots of Y shape.The outer end of the protruding arch of foot of Y shape is the ankle-joint mount pad.

Outer leg: with reference to Figure 37, the Y shape arch of foot of interior leg is changed to the triangle arch of foot, the whole amplification, but constant highly substantially or slightly increase has just formed outer leg.Outer leg outside, interior leg is interior, the two dead in line.Outer leg upper mounting plate is last, and interior leg upper mounting plate is descending the plane parallel of outer leg upper mounting plate and interior leg upper mounting plate.The upper mounting plate annular of outer leg is bigger, and the upper mounting plate annular of interior leg is less, and the upper mounting plate of outer leg is higher, the upper mounting plate of interior leg lower.The two connects firmly together.The side chain mutually noninterfere of outer leg and interior leg.

The annular arch of foot of outer leg is bigger; The Y shape arch of foot of interior leg is less; Outer leg is fully big, and interior leg is suitably little, guarantees that the two does not interfere.Outer leg ankle-joint polygon overlaps with the projection of interior leg ankle-joint polygon on horizontal plane is most of.Outer leg hip joint polygon also has most of the coincidence with the projection of interior leg hip joint polygon on horizontal plane.

Embodiment 23

It is the walking robot of the 6DOF parallel institution composition of two different side chains.Outer leg is that side chain is the 6DOF parallel institution (Fig. 5) of SPS.Interior leg is that side chain is the 6DOF parallel institution (Figure 26) of PSS.Outer leg chamfered edge platform shape, more greatly, outside, interior leg column, less, interior, the two dead in line.Outer leg upper mounting plate is last, and interior leg upper mounting plate is following, and interior leg height is less, and outer leg height is bigger, and the toe of two parallel institutions is on same plane during the neutral position.The plane parallel of outer leg upper mounting plate and interior leg upper mounting plate.The upper mounting plate of the two connects firmly together.

Embodiment 24

Be (the Figure 38-Figure 40) of the capable robot of leg T shape flatfoot bow step in the outer leg horseshoe clamp arch of foot of 2 * 6DOF left and right sides staggered form (be also referred to as before and after formula) structure.Half that Figure 39 only draws symmetrical.Embodiment 24 makes by intersecting before and after two 6SPS leg mechanism in parallel.Except that the arch shape difference, the used parallel institution of this example is identical with Fig. 5.Two leg mechanism sizes are close, and highly identical, shaped upper part is close, and top hip joint polygonal shape is close, all are accurate triangular framings.The axis of two leg mechanisms is at a distance of about 0.5 (Ra+Rb).The T shape member 1.2 of outer leg upper mounting plate 1 and the T shape member 1.2 of interior leg upper mounting plate 4 are on same horizontal plane, and the two (1.2 and 2.2, figure in be double solid line) are fixed together,

The left side is outer leg, and arch of foot is a horseshoe clamp arch of foot 3, and the U-shaped opening to the right; The right side is interior leg, and arch of foot is a T shape flatfoot bow 6.One group of hip joint mount pad of outer leg (the right one) is positioned at the leg-of-mutton middle part of leg hip joint.One group of ankle-joint mount pad of interior leg (toe on the left side) is positioned at the leg-of-mutton middle part of outer leg ankle-joint.In this article, from vertical view, if the toe polygon of a leg comprises one or more toes of another leg, so, this leg is called outer leg, and another leg is called interior leg.

From vertical view (Figure 39), two side chains of the leftmost side (only drawing among the figure one) are two side chains of outer leg.These two side chains can not interfered with the side chain of interior leg.Two side chains of the rightmost side (only drawing among the figure one) are two side chains of interior leg.These two side chains can not interfered with the side chain of outer leg yet.There are eight side chains (only draw among the figure symmetry axis below four) at the middle part.Four side chains of symmetry axis below, interior leg has two, and outer leg has two.Wherein, two side chains of interior leg are positive V-arrangement, and two side chains of outer leg are inverted V-shaped, and Open Side Down for V-arrangement.Two side chains of this of interior leg are the different surface beeline relation with the side chain of outer leg, and the two can not interfered, and bigger working space is arranged.

The arch of foot combination of left and right sides staggered form walking robot comprises various situations equally.The following examples have provided several preferable assembled schemes.Shape, the size of left and right sides staggered form walking robot, less demanding: can be more greatly, can be littler.Column, positive terrace with edge, chamfered edge platform can use.

Change slightly, can obtain the mutation of embodiment 24.Leg outside the left side among the embodiment 24 (Figure 38,39) unitary rotation 180 degree, arch of foot also rotates 180 degree simultaneously, horseshoe clamp arch of foot (or W shape) opening left, T shape flatfoot bow becomes the protruding arch of foot of T shape.Distance between the axis of two parallel institutions is adjusted to 0.7--0.8 (Ra+Rb), reinstalls together.Other is constant.The middle part, below (Figure 39) of new robot symmetry axis has two hip joint mount pads, four hip joints.For guaranteeing bigger working space, these four hip joints intersect to be installed.Promptly four hip joints are installed on tetragonal four angles, and two hip joints on the same diagonal are on the leg.Four hip joints at middle part, the top of symmetry axis (Figure 39) are also done similar processing.A toe on the symmetry axis of new departure U font arch of foot is positioned at the centre of three toes of another leg mechanism; A toe on the left side of T font arch of foot is positioned at the centre of three toes of left side leg mechanism among Figure 39; The two comprises mutually.At this moment, the common, stable area of a polygon is still greater than zero, and suitable remaining is arranged.The U-shaped arch of foot becomes recessed arch of foot, and T shape arch of foot remains the protruding arch of foot of T shape, also is a good scheme (second mutation).

Embodiment 25

Be second kind of side chain staggered form structure walking robot that is SPS (Figure 41 and referring to Figure 38, Figure 39).Outer leg is the recessed arch of foot of U-shaped, and interior leg is the recessed arch of foot of Y shape.Change the horseshoe clamp arch of foot of the outer leg among the embodiment 24 into U-shaped recessed arch of foot, the Y shape flatfoot bow of interior leg changes the recessed arch of foot of T shape into, is exactly the walking robot of embodiment 25.In Figure 41, arch of foot 3 is outer leg arch of foots, and it is the recessed arch of foot of U-shaped, U word opening to the right, it is positioned at the left side of leg arch of foot.It is made up of two arch arm 1.8, two arch arm form the U-shaped structure,, the top of arch of foot is ankle-joint mount pad 1.9, arch of foot bottom between two ankle-joint mount pads is that the outer leg arch of foot of toe 1.10. has two in-line big toes, and two in-line big toes are parallel to each other.For the recessed arch of foot of U-shaped, toe is two parallel word toes, has only the toe polygon, does not have the toe triangle.At this moment, the leg-of-mutton circumscribed circle of toe is meant the radius of a circle that can contain the polygonal minimum of toe.

Arch of foot 6 is interior leg arch of foots, and it is the recessed arch of foot of T shape, is positioned at the right side of outer leg arch of foot.It is made up of two arch arm 2.8, and two arch arm form T shape structure, and the top, outer end of arch of foot 6 is ankle-joint mount pads 2.9, and the bottom of arch of foot is a toe 2.10.Two in-line big toes of interior leg are vertical mutually.A toe (lower end of T word) of interior leg is positioned at the leg-of-mutton center of toe of outer leg.Between interior leg arch of foot and the outer leg arch of foot suitable distance is arranged, guarantee two arch of foot mutually noninterferes.

Embodiment 26

Be that the third side chain is 12 free degree staggered form structure walking robots (Figure 42 and referring to Figure 38,39) of SPS.Outer leg is the protruding arch of foot of U-shaped, and interior leg is the protruding arch of foot of T shape (Figure 42).Change the horseshoe clamp arch of foot of the outer leg among the embodiment 24 into U-shaped protruding arch of foot, the T shape flatfoot bow of interior leg changes the protruding arch of foot of T shape into, is exactly the walking robot of embodiment 26.Two parallel institutions all are the column parallel institutions.In Figure 42, arch of foot 3 is outer leg (left leg) arch of foots, and it is the protruding arch of foot of U-shaped, U word opening to the right, it is positioned at the left side of leg arch of foot.It is made up of two arch arm 1.8, and two arch arm form the U-shaped structure, and the bottom of arch of foot is an ankle-joint mount pad 1.9.The below of three ankle-joint mount pads is that the outer leg arch of foot of toe 1.10. has three toes, and three toes are conllinear not.Be positioned on three angles of isosceles triangle.

Arch of foot 6 is interior leg arch of foots, and it is the protruding arch of foot of T shape, is positioned at the right side of outer leg arch of foot.It is made up of two arch arm 2.8, and two arch arm form T shape structure, and the below, outer end of arch of foot 6 is that 2.9, three ankle-joint mount pads of ankle-joint mount pad are positioned on three angles of isosceles triangle, and its below is three toes 2.10.The leg-of-mutton center of toe that a toe of interior leg is positioned at outer leg.Between interior leg arch of foot and the outer leg arch of foot suitable distance is arranged, guarantee two arch of foot mutually noninterferes.About 0.6 (Ra+Rb) of distance between the axis of two parallel institutions.

Embodiment 27

It is the leg T shape capable robot of flatfoot bow step (Figure 43) in the outer leg horseshoe clamp arch of foot of 2 * 6DOF (side chain is 6-RSS) staggered form structure.The outer leg of embodiment 27 and interior leg all use parallel institution shown in Figure 30 (6RSS).Intersect before and after two leg mechanisms in parallel and makes, the parallel institution of 6DOF is made up of upper mounting plate, lower platform and six RSS side chains being connected lower platform.Except that the side chain difference, other structure is close with embodiment 24.Two leg mechanism sizes are close, and shaped upper part is close, and top hip joint polygonal shape is close, all are hexagonal-shaped frame.The axis of two leg mechanisms is at a distance of about 0.5 (Ra+Rb).The upper mounting plate of two legs is fixed together by connector 8.In order to prevent the interference between the side chain, take following measure: 1, two R pairs on outer leg right side are lower, and two pairs of R pairs in interior leg left side are higher; 2, the R pair of outer leg is at upper mounting plate plane lower swing, and the R pair of interior leg is swung on the upper mounting plate plane; 3, the distance between two of interior leg coaxial R pairs is bigger.Two parallel institutions all are stage body formula parallel institutions.All R pairs all with the upper mounting plate plane parallel, but part R pair is not in one plane.The left side is outer leg, and arch of foot is a horseshoe clamp arch of foot 3; The right side is interior leg, and arch of foot is a T shape flatfoot bow 6.One group of ankle-joint mount pad of interior leg (left side one) is positioned at the leg-of-mutton middle part of outer ankle-joint.

Embodiment 28

It is 2 * 6DOF staggered form structure walking robot that second kind of side chain is RSS.Change the horseshoe clamp arch of foot of the outer leg among the embodiment 27 (referring to Figure 43) into U-shaped recessed arch of foot, the T shape flatfoot bow of interior leg changes the recessed arch of foot of T shape into, is exactly the walking robot of embodiment 28.The secondary stereogram of arch of foot is referring to Figure 41.

Embodiment 29

Be that the third side chain is 2 * 6DOF staggered form structure walking robot (referring to Figure 43) of RSS.Change the horseshoe clamp arch of foot of the outer leg among the embodiment 27 (referring to Figure 43) into U-shaped protruding arch of foot, the T shape flatfoot bow of interior leg changes the protruding arch of foot of Y shape into, is exactly the walking robot of embodiment 29.The secondary stereogram of arch of foot is referring to Figure 42.

Embodiment 30

Be that side chain is 12 free degree staggered form structure walking robots (Figure 44) of 6PSS.Outer leg is the horseshoe clamp arch of foot, and interior leg is a Y shape flatfoot bow.Outer leg and interior leg all use parallel institution shown in Figure 27.Intersect before and after two leg mechanisms in parallel and make.Two leg mechanism sizes are close, and shaped upper part is close, and top hip joint polygonal shape is close, all are the regular hexagon frameworks.The axis of two leg mechanisms is at a distance of about 0.5 (Ra+Rb).The upper mounting plate of two legs is fixed together by connector 8.In order to prevent the interference between the side chain, take following measure: 1, two P pairs that are parallel to each other on outer leg right side are lower, and two pairs of P pairs in interior leg left side are higher; 2, the distance between two of interior leg parallel P pairs is bigger.All P pairs all with the upper mounting plate plane parallel, but part P pair is not in one plane.Two parallel institutions all are stage body formula parallel institutions.The left side is outer leg, and arch of foot is a horseshoe clamp arch of foot 3; The right side is interior leg, and arch of foot is a Y shape flatfoot bow 6.One group of ankle-joint mount pad of interior leg (left side one) is positioned at the leg-of-mutton middle part of outer leg ankle-joint.

Embodiment 31

Be that second kind of side chain is 12 free degree staggered form structure walking robots of PSS.Change the horseshoe clamp arch of foot of the outer leg among the embodiment 30 (referring to Figure 44) into U-shaped recessed arch of foot, the T shape flatfoot bow of interior leg changes the recessed arch of foot of T shape into, is exactly the walking robot of embodiment 31.The secondary stereogram of arch of foot is referring to Figure 41.If change the horseshoe clamp arch of foot of the outer leg (Figure 27) among the embodiment 30 into U-shaped protruding arch of foot, the T shape flatfoot of interior leg bow changes the protruding arch of foot of T shape into, and embodiment 30 can develop into again has protruding arch of foot walking robot.The secondary stereogram of arch of foot is referring to Figure 42.

Embodiment 32

Embodiment 24 (with reference to Figure 39) is done following change: the hip joint mount pad N1 of leg is divided into two outside the left side, becomes N11 and N12.N11 and N12 remove to both sides respectively, away from symmetry axis F1N6.N11 moves on to the outside (Figure 39 symmetry axis downside) of F5, and simultaneously, outer legs and feet toe N5 is also suitably outer to be moved.N12 also does similar processing.Outer leg U-shaped arch of foot becomes A shape arch of foot (constant also can).Interior leg integral body is slightly dwindled.Other is constant.Outer leg after the variation, (from vertical view) on the whole is a C shape, as long as interior leg is suitably little, the distance between the axis of two parallel institutions can be chosen arbitrarily from 0 to (Ra+Rb).Change to gauche form from inside and outside formula.Change to (Ra+Rb) from 0, the common, stable area of a polygon is more and more littler, and the scope of stable state walking is more and more littler, and the scope of mixed state walking enlarges gradually.Figure 45 has provided the vertical view of embodiment 32, has schematically expressed the mechanism characteristics of embodiment 32.Double solid line is the upper mounting plate framework among the figure, above six hip joints are installed in.

Embodiment 33-53 is that the free degree is less than 12 walking robot in parallel.Wherein, at embodiment 35,37, in 38,43,44,45,46, the leg degrees of freedom combination of not moving one's steps is arranged, so these several walking robots in parallel can only be done batch (-type) walking movement (can keep straight path).

Implement 33

Be inside and outside formula structure, 11 free degree walking robots that a 6DOF (6PSS) parallel institution conduct outer leg (Figure 26) and the 4th kind of 5DOF (4RSS+1RPS) parallel institution are formed as interior leg (Figure 49).Outer crural triangle shape flatfoot bow, interior leg V-arrangement flatfoot bow.

Interior leg (Figure 49) is made up of upper mounting plate, lower platform and four RSS side chains and a RPS side chain of being connected lower platform.Upper mounting plate 1 is a circular frame structure 1.2,5 hip joint mount pads 1.1 of uniform installation and 5 secondary 1.3.1 of R on the same circumference around it.The axis normal of the R pair of RSS side chain is in the upper mounting plate plane.The axis of the R pair of RPS side chain is in the upper mounting plate plane, perpendicular to the radius of crossing this point.The connecting rod of the S pair that the R of RSS side chain is secondary with middle can be in (for example in 60 degree) swing among a small circle under the upper mounting plate plane, and four R pairs are driving pair.The P pair of RPS side chain is a driving pair.Secondary 1.3.1 of R on five side chains has constituted the hip joint of this leg, and the hip joint mount pad is the secondary Connection Block 2.1 with upper mounting plate of R.Be connected by first rod member 1.6 between secondary 1.3.1 of R and the secondary 1.4.2 of S.In the RSS side chain, be connected by second rod member 1.7 between secondary 1.4.2 of S and the S pair 1.5.First connecting rod is shorter.Second connecting rod is longer.Arch of foot 3 is a V-arrangement, and bottom ball pivot 1.5 is divided into three groups, and the ball pair on four RSS side chains is divided into two groups, two every group, is connected with common ball pivot on two ankle-joint mount pads of arch of foot.The ball pair of RPS side chain is connected on the 3rd the ankle-joint mount pad, forms accurate triangular arrangement.It under the ankle-joint mount pad 2.9 toe 2.10.This parallel institution also is the parallel institution of symmetry.This parallel connection leg mechanism can finish and stand, unidirectional function such as move one's steps.Cooperation turns to, and also can advance or retreats to any direction.

From vertical view, outer leg (Figure 26) parallel institution is bigger, and interior leg (Figure 43) parallel institution is less.Outer leg upper mounting plate is last, and interior leg upper mounting plate is descending the plane parallel of outer leg upper mounting plate and interior leg upper mounting plate.The two dead in line.The upper mounting plate annular of outer leg is bigger, and the upper mounting plate annular of interior leg is less, and the upper mounting plate of outer leg is higher, the upper mounting plate of interior leg lower.The first connecting rod of interior leg is not interfered with the moving sets of outer leg.The two connects firmly together.

Embodiment 34

Be staggered form structure 11 free degree walking robots that 6DOF (6SPS) parallel institution and 5DOF (4SPS+1RPS) parallel institution are formed.Outer leg (referring to Fig. 5) horseshoe clamp arch of foot, interior leg (Figure 46) T shape flatfoot bow.The outer leg (left side parallel institution) that the outer leg of the walking robot of Figure 38 (left side parallel institution) is changed to the walking robot of Figure 51 is embodiment 34.

Embodiment 35

Be inside and outside formula structure, 10 free degree walking robots that a 6DOF (6PSS) parallel institution (Figure 27) and the third 4DOF (3RSS+1PS) parallel institution (Figure 56) are formed.Outer leg (Figure 33) O shape flatfoot bow, interior leg (Figure 56) Y shape flatfoot bow.

Interior leg (Figure 56) is made up of upper mounting plate, lower platform and four side chains being connected lower platform, wherein 3 RSS side chains and 1 PS side chain.Upper mounting plate is a hexagon.Lower platform is a Y shape arch of foot.The top revolute pair of 3 RSS side chains is installed on the upper mounting plate.Its axis is by the center of upper mounting plate, and in one plane, the angle between the axis is 120 degree, and the distance between the center of each revolute pair and upper mounting plate equates.The moving sets upper end of PS side chain connects firmly the center at upper mounting plate, and axis is vertical with the upper mounting plate plane.The bottom ball pair of PS side chain is installed in the center of Y shape arch of foot.PS side chain has limited two of lower platform and has moved horizontally the free degree.This parallel connection leg mechanism can be finished and stand, lifts the step, function such as turn to arbitrarily, but can not move one's steps.This is a parallel institution with symmetry axis.

From vertical view, outer leg (Figure 33) parallel institution is bigger, and interior leg (Figure 56) parallel institution is less.Outer leg upper mounting plate is last, and interior leg upper mounting plate is descending the plane parallel of outer leg upper mounting plate and interior leg upper mounting plate.The two dead in line.The protruding arch of foot of leg Y shape in the outer crural triangle shape flatfoot bow.

Embodiment 36

Be staggered form structure 10 free degree walking robots that a 6DOF (6SPS) parallel institution (Fig. 5) and first kind of 4DOF parallel institution (2SPS+2RPS) (Figure 54) are formed.The protruding arch of foot of outer leg (Fig. 5) U-shaped, the protruding arch of foot of interior leg (Figure 54) T shape.

Interior leg is made up of upper mounting plate, lower platform and four side chains being connected lower platform, wherein 2 SPS side chains and 2 RPS side chains.Lower platform is changed to the protruding arch of foot of T shape in the present embodiment.Arch of foot has three minimum points.The revolute pair of 2 RPS side chains is installed in upper mounting plate, and the axis of revolute pair is parallel to each other, and with the upper mounting plate plane parallel.A RPS side chain is longer, and a RPS side chain is shorter.The ball pair of shorter RPS side chain (left side) bottom is installed in the top of an arch arm, and respectively there is a SPS side chain its both sides.The axis of the axis of shorter RPS side chain and two SPS side chains is not in one plane.The ball pair of the bottom of long RPS side chain is installed in a minimum point of arch of foot, and the bottom ball pair of two SPS side chains is installed on two other minimum point of arch of foot.Two RPS side chains have limited of lower platform and have moved horizontally the free degree and the rotational freedom around the Z axle.This parallel connection leg mechanism can finish and stand, unidirectional function such as move one's steps, but can not turn to.

Interior leg among the embodiment 22 is pulled down, be changed to first kind of 4DOF parallel institution with T shape arch of foot.The ball pair of the bottom of long RPS side chain is installed in the middle part of three toes of outer leg.Two other toe on the right, two parallel institution height are identical, two upper mounting plates connect firmly together, form embodiment 36.

Embodiment 37

Be inside and outside formula structure 9 free degree walking robots that a 6DOF (6SPS) parallel institution (Fig. 5) and 3DOF (3RRS) parallel institution (Figure 61) are formed.Outer leg (Fig. 5) O shape flatfoot bow, interior leg (Figure 61) Y shape flatfoot bow.The RPS side chain of the 3DOF parallel institution of Figure 60 is changed to the RRS side chain, the 3DOF parallel institution (Figure 61) that another of formation is new.Wherein, the axis of two of same side chain R pairs is parallel.All the other are identical with the parallel institution shown in Figure 60.From vertical view, outer leg (Fig. 5) parallel institution is bigger, and interior leg (Figure 61) parallel institution is less.Outer leg upper mounting plate is last, and interior leg upper mounting plate is descending the plane parallel of outer leg upper mounting plate and interior leg upper mounting plate.The two dead in line.Crural triangle shape flatfoot bow in the outer leg annular flat arch of foot.

Embodiment 38

Be front and back formula structure 9 free degree walking robots that a 6DOF (6SPS) parallel institution (Fig. 5) and 3DOF (3RPS) parallel institution (Figure 60) are formed.Outer leg such as Fig. 5, arch of foot change the U-shaped arch of foot into; Interior leg such as Figure 60, arch of foot change T shape arch of foot into.Distance between the axis of two parallel institutions is 0.25---0.3 (Ra+Rb) (size according to two legs is determined).The cooperation of arch of foot pair is referring to Figure 40.Embodiment 38 changes slightly, and promptly the 6DOF parallel institution rotates 180 degree around axis, can obtain the mutation of embodiment 38.Two parallel institutions are one in front and one in back arranged, and the distance between the axis of two parallel institutions is 0.8 (Ra+Rb).The six degree of freedom leg is preceding, and arch of foot is the protruding arch of foot of positive V font; 3DOF leg mechanism in parallel after, arch of foot is the protruding arch of foot of inverted T-shape.A toe bottom of positive V font arch of foot is positioned at the centre of three toes of 3DOF leg mechanism; A toe of the top of inverted T-shape arch of foot is positioned at the centre of three toes of 6DOF leg mechanism; The two comprises mutually.At this moment, the common, stable area of a polygon is still greater than zero.

Embodiment 39

Be inside and outside formula structure, 10 free degree walking robots of forming as outer leg (4PSS+1RPS) as interior leg (4PSS+1RRS) and the third five-freedom parallel structure (Figure 48) by second kind of five-freedom parallel structure (Figure 47).Outer leg is the hexagon arch of foot, and interior leg is the triangle arch of foot.

Interior leg (Figure 47): (6PSS) does following change with the six-degree-of-freedom parallel connection mechanism among Figure 27: two PSS parallel institutions on the same ankle-joint mount pad are removed, change a RRS side chain, interior leg arch of foot changes the triangle arch of foot into, other is constant, promptly becomes five degree of freedom shown in Figure 47 (4PSS+1RRS) parallel institution.The ball pair of RRS side chain is installed on this ankle-joint mount pad, the top revolute pair of RRS side chain be installed in upper mounting plate triangle and this ankle-joint mount pad homonymy the mid point on limit, axis overlaps with this limit.This parallel connection leg mechanism can finish and stand, unidirectionally move one's steps and function such as turn to arbitrarily.Cooperation turns to, and also can advance or retreats to any direction.

Outer leg (Figure 48) is made up of upper mounting plate, lower platform and five side chains being connected lower platform, 4 RSS side chains wherein, a RPS side chain.Upper mounting plate 1 is a triangular frame structure 1.2.The axis of the R pair of 4-RSS side chain is in the upper mounting plate plane, and the axis of four R pairs is the center by upper mounting plate all.Four R pairs are divided into three groups, have one group two, the secondary close together of same group R.The connecting rod of the secondary 1.4.2 of S that R is secondary with middle can swing up and down among a small circle.Two connecting rods on same group the R pair are distributed in the left and right sides, and two connecting rods can be in the swing among a small circle up and down of horizontal plane.The two mutually noninterfere.Four R pairs are distributed on the same circumference, and the R pair is a driving pair.Secondary 1.3.1 of R has constituted the hip joint of this leg, and the hip joint mount pad is the Connection Block 1.1 of R pair and upper mounting plate.Be connected by the first rod member 1.6.2 between secondary 1.3.1 of R and the secondary 1.4.2 of S.Be connected by second rod member 1.7 between secondary 1.4.2 of S and the S pair 1.5.First connecting rod is shorter.Second connecting rod is longer.The R secondary axis of RPS side chain is in the upper mounting plate plane, perpendicular to the symmetry axis of the R pair of four RSS side chains.Arch of foot 3 is hexagon (an abduction formula arch of foot), and the bottom ball pivot 1.5 of four RSS side chains is divided into three groups, two every group, is connected with common ball pivot on two ankle-joint mount pads of annular arch of foot.The bottom ball pivot 1.5 of RPS side chain is connected on the 3rd the ankle-joint mount pad.It under the ankle-joint mount pad 1.9 toe 1.10.This parallel institution also is the parallel institution of symmetry.This parallel connection leg mechanism can finish and stand, unidirectionally move one's steps and function such as turn to arbitrarily.Cooperation turns to, and also can advance or retreats to any direction.

From vertical view, outer leg (Figure 48) parallel institution is bigger, and interior leg (Figure 47) parallel institution is less.Outer leg upper mounting plate is last, and interior leg upper mounting plate is descending the plane parallel of outer leg upper mounting plate and interior leg upper mounting plate.The two dead in line.The upper mounting plate of outer leg is bigger, and the upper mounting plate of interior leg is less, and the upper mounting plate of outer leg is higher, the upper mounting plate of interior leg lower.The side chain of interior leg is not interfered with the side chain of outer leg, and the arch of foot of interior leg is not interfered with the arch of foot of outer leg yet.The phase difference of two parallel institutions can be 0 degree or 180 degree.The upper mounting plate of the two connects firmly together.

Embodiment 40

Staggered form structure, 10 free degree walking robots (Figure 51) formed by two first kind 5DOF (4SPS+1RPS) parallel institution (Figure 46).Outer leg horseshoe clamp arch of foot, interior leg T shape flatfoot bow.Six-degree-of-freedom parallel connection mechanism among Fig. 5 is done following change: two SPS parallel institutions on the same limit of adjacent upper mounting plate are removed, change a RPS side chain, other is constant, promptly becomes five degree of freedom shown in Figure 46 (4SPS+1RPS) parallel institution.The kinematic pair of RPS side chain is arranged in the mid point on this limit, and axis overlaps with this limit, and the ball pair of RPS side chain is arranged on the ankle-joint mount pad of two the SPS side chains of dismantling.This parallel connection leg mechanism can finish and stand, unidirectionally move one's steps and function such as turn to arbitrarily.Cooperation turns to, and also can advance or retreats to any direction.Two first kind of five-freedom parallel structures are combined according to the assembly method similar to embodiment 24, obtain embodiment 40 (Figure 51).

Embodiment 41

By the 5th kind of five-freedom parallel structure (4PSS+1RPS) conduct outer leg (Figure 50) and the inside and outside formula structure walking robot that the 5th kind of 4DOF parallel institution 4DOF (2PSS+2RRS) forms as interior leg (Figure 58).Outer leg O shape flatfoot bow, interior leg Y shape flatfoot bow.This is a lower-mobility, unidirectional walking fast, turns to slightly blunt robot.

Outer leg (Figure 50) upper mounting plate 1 is a regular pentagon structure 1.2,4 secondary 1.3.2 of P are installed on its plane, 4 P pairs lay respectively on pentagonal four limits, the axis of P pair overlaps with these four limits respectively, the mid point on another limit is installed the R pair of RRS side chain, the axis of uppermost R pair overlaps with this limit, and the axis of two R pairs is parallel.Four P pairs are driving pair, and the uppermost R pair of RRS side chain is a driving pair.All the other kinematic pairs are passive pairs.Two R pairs have rod member 1.6.1 to connect.Be connected by rod member 1.7.1 between secondary 1.4.1 of R and the S pair 1.5.Middle S pair is connected on the secondary 1.3.1 of P.Be connected by rod member 1.7.2 between middle secondary 1.4.2 of S and the S pair 1.5.Arch of foot 3 is a hexagon, and bottom ball pivot 1.5 is divided into three groups.Ball pair on four PSS side chains is divided into two groups, two every group, is connected with common ball pivot on two ankle-joint mount pads of arch of foot.The ball pair of RRS side chain is connected on the 3rd the ankle-joint mount pad, forms accurate triangular arrangement.It under the ankle-joint mount pad 1.9 toe 1.10.This parallel institution also is the parallel institution of symmetry.Mechanism among the figure is positive terrace with edge shape parallel institution.This parallel connection leg mechanism can finish and stand, unidirectionally move one's steps and function such as turn to arbitrarily.Cooperation turns to, and can advance or retreats to any direction.

Interior leg (Figure 58) is made up of upper mounting plate 1, lower platform 3 and four side chains 2 being connected lower platform, wherein 2 PSS side chains and 2 RRS side chains (perhaps RPS side chain).Upper mounting plate is a rectangular frame 1.2.Lower platform is annular arch of foot.The top revolute pair 1.3.1 of 2 RRS side chains is installed in respectively on rectangular two the opposite side mid points of upper mounting plate, and two limits of axis and this are parallel.The axis of two revolute pair 1.3.1 and 1.4.1 is parallel to each other, and the two connects by connecting rod 1.6.1, and bottom ball secondary 1.5 is connected by connecting rod 1.7.1 with the revolute pair 1.4.1 of centre.The top moving sets 1.3.2 of 2 PSS side chains is installed on two other opposite side of upper mounting plate rectangular frame, and two limits of the axis of moving sets and this are parallel.Middle secondary 1.4.2 of ball is installed on the moving sets 1.3.2, and bottom ball secondary 1.5 is connected by connecting rod 1.7.2 with intermediate is secondary.Two RRS side chains have limited of lower platform and have moved horizontally the free degree and the rotational freedom around the Z axle.In the present embodiment, arch of foot is changed to Y shape arch of foot.This is the parallel institution of a symmetry.This parallel connection leg mechanism can finish and stand, unidirectional function such as move one's steps.

From vertical view, outer leg (Figure 50) parallel institution is bigger, and interior leg (Figure 58) parallel institution is less.Outer leg upper mounting plate is last, and interior leg upper mounting plate is descending the plane parallel of outer leg upper mounting plate and interior leg upper mounting plate.The two phase difference is 0 degree.The upper mounting plate of outer leg is bigger, and the upper mounting plate of interior leg is less, and the upper mounting plate of outer leg is higher, the upper mounting plate of interior leg lower.The side chain of interior leg is not interfered with the side chain of outer leg, and the arch of foot of interior leg is not interfered with the arch of foot of outer leg yet.The upper mounting plate of the two connects firmly together.

Embodiment 42

The staggered form structure walking robot of forming as interior leg (Figure 57) as outer leg (Figure 49) and one first kind 4DOF parallel institution 4DOF (2PSS+2PRS) by the 4th kind of five-freedom parallel structure (4RSS+1RPS).Outer leg horseshoe clamp arch of foot, interior leg T shape flatfoot bow.

Outer leg (Figure 49) is made up of upper mounting plate, lower platform and four RSS side chains and a RPS side chain of being connected lower platform.Upper mounting plate (1) is a circular frame structure 1.2,5 hip joint mount pads 1.1 of uniform installation and 5 secondary 1.3.1 of R on the same circumference around it.The axis normal of the R pair of RSS side chain is in the upper mounting plate plane.The axis of the R pair of RPS side chain is in the upper mounting plate plane, perpendicular to the radius of crossing this point.The connecting rod of the S pair that the R of RSS side chain is secondary with middle can be swung among a small circle, and four R pairs are driving pair.Secondary 1.3.1 of R on five side chains has constituted the hip joint of this leg, and the hip joint mount pad is the secondary Connection Block 2.1 with upper mounting plate of R.Be connected by first rod member 1.6 between secondary 1.3.1 of R and the secondary 1.4.2 of S.Be connected by first rod member 1.7 between secondary 1.4.2 of S and the S pair 1.5.First connecting rod is shorter.Second connecting rod is longer.The P pair of RPS side chain is a driving pair.Arch of foot 3 is a V-arrangement, and bottom ball pivot 1.5 is divided into three groups, and the ball pair on four RSS side chains is divided into two groups, two every group, is connected with common ball pivot on two ankle-joint mount pads of arch of foot.The ball pair of RPS side chain is connected on the 3rd the ankle-joint mount pad, forms accurate triangular arrangement.It under the ankle-joint mount pad 1.9 toe 1.10.This parallel institution also is the parallel institution of symmetry.This parallel connection leg mechanism can finish and stand, unidirectional function such as move one's steps.Cooperation turns to, and also can advance or retreats to any direction.

Interior leg (Figure 57) is made up of upper mounting plate, lower platform and four side chains being connected lower platform, wherein 2 PSS side chains and 2 PRS side chains.Upper mounting plate 1 is a rectangle.Lower platform 3 is T shape arch of foots.The top moving sets 1.3.2 of 2 PRS side chains is installed on the rectangular limit of upper mounting plate (being called the A limit), axis is parallel with this limit, the top moving sets of two PSS side chains is installed in the rectangular another one of upper mounting plate limit (opposite side on A limit), and axis is parallel with this limit.Four moving sets axis are parallel.The bottom ball pair 1.5 of two PSS side chains is installed in the upper end of inverted T-shaped lower platform.The bottom ball pair of two PRS side chains is installed on two other end points of inverted T-shaped lower platform.Two PRS side chains have limited of lower platform and have moved horizontally the free degree and the rotational freedom around the Z axle.This is a parallel institution that a symmetry axis is arranged.This parallel connection leg mechanism can finish and stand, unidirectional function such as move one's steps.

From vertical view, outer leg (Figure 49) parallel institution is bigger, and interior leg (Figure 57) parallel institution is less.Outer leg upper mounting plate is last, and interior leg upper mounting plate is descending the plane parallel of outer leg upper mounting plate and interior leg upper mounting plate.The two phase difference is 0 degree.The upper mounting plate of outer leg is bigger, and the upper mounting plate of interior leg is less, and the upper mounting plate of outer leg is higher, the upper mounting plate of interior leg lower.Interior leg is the triangle arch of foot, and outer leg is the hexagon arch of foot.The side chain of interior leg is not interfered with the side chain of outer leg, and the arch of foot of interior leg is not interfered with the arch of foot of outer leg yet.The upper mounting plate of the two connects firmly together.Two degrees of freedom combination of moving one's steps are distributed on two legs, and the direction of motion is orthogonal.It can only carry out the walking at intermittence.If phase difference variable is 90 degree, then walking continuously.

Embodiment 43

Be inside and outside formula structure, 8 free degree walking robots (Figure 52, Figure 53, Figure 46, Figure 60) that a 5DOF (4SPS+1RPS) parallel institution (Figure 46) and 3DOF (3RPS) parallel institution (Figure 60) are formed.Outer leg (Figure 46) O shape flatfoot bow, the recessed arch of foot of interior leg (Figure 60) triangle.This robot can only realize the batch (-type) walking because the free degree is less.But simple in structure, cost is low, remains an available scheme.

The positive terrace with edge shape of outer leg, bigger, interior leg chamfered edge platform shape (Figure 53), less, common, stable polygon less (if require the common, stable polygon bigger, outer leg changes chamfered edge platform shape into, and interior leg changes positive terrace with edge shape into).Outer leg upper mounting plate 1 is higher than interior leg upper mounting plate 4, and interior leg is positioned at outer midleg, the two dead in line.The two is fixed together.Outer leg is a C shape abduction formula flatfoot bow 3, and toes 3 triangles of outer leg are bigger; Outer leg has five side chains.Interior leg is the recessed arch of foot 6 of triangle, and interior leg has three side chains.The toes triangle of interior leg is less.Interior leg and outer leg all are the parallel institutions of symmetry.Outer leg hip joint polygon overlaps with the projection of interior leg hip joint polygon on horizontal plane is most of.Outer leg ankle-joint polygon overlaps with the projection of interior leg ankle-joint polygon on horizontal plane is most of.Outer leg has five side chains, and wherein four side chains 2 are the SPS structure, and another branch road is the RPS structure.The ball pair 1.3 that four SPS side chains 2 are connected with upper mounting plate 1 is divided into three groups, one group two, other two groups one group one, be arranged near three summits of upper mounting plate triangular framing 1.2, the secondary 1.3.1 of R of RPS branch road is arranged in the mid point on a limit of upper mounting plate triangular framing, and the two ends on this limit are secondary 1.3 mount pads of single ball.The axis of R pair and upper mounting plate plane parallel and perpendicular to the XOZ plane.Three toes 1.10 of outer leg are distributed near the bigger vertex of a triangle, and outer leg is a C shape abduction formula flatfoot bow 3.The upper end of SPR branch road and upper mounting plate connect together by revolute pair R1.3.1, and the lower end connects together by ball secondary 1.5 and arch of foot 3.All P width of cloth all can be used as the initiatively width of cloth.Upper mounting plate is a triangular framing 1.2, and upper joints is divided into four groups, and the ball pivot 1.3 of two centres is one group, and two other ball pivot is respectively done for oneself one group, and revolute pair has one group of one's own.Revolute pair is installed in the centre of two independent ball pivots.This walking leg mechanism can finish and stand, unidirectionally move one's steps and function such as turn to.Unidirectional move one's steps to cooperate turn to and can advance or retreat to any direction.This parallel institution has a symmetry axis.

Interior leg is a 3-freedom parallel mechanism.The parallel institution of Three Degree Of Freedom is made up of upper mounting plate, lower platform and three RPS side chains being connected lower platform.The 3-RPS parallel institution is followed successively by revolute pair, moving sets and ball pair from top to bottom.The bottom of side chain links by ball pivot and arch of foot.The top R width of cloth is installed on the summit of an equilateral triangle in the upper mounting plate plane, R width of cloth axis and upper mounting plate plane parallel, and R width of cloth axis is vertical with the line at center with the summit of equilateral triangle.The P pair is a driving pair.The ball pair of lower end is connected the outer end of Y shape arch of foot.The center of three ball pairs is on the summit of an equilateral triangle.Because the 3DOF parallel institution has only upright and lifts the pin function, so the parallel institution that cooperates with it is minimum 5 frees degree to be arranged, comprise three fundamental freedom degree, the free degree turns to and take a step.Suitable do structural adjustment, the distance between two parallel institution axis can be adjusted to 0.8 (Ra+Rb) from 0.

Embodiment 44

It is the gauche form structure walking robot that a 5DOF (4RSS+1RPS) parallel institution (Figure 49) and 3DOF (3RPS) parallel institution (Figure 62) are formed.Outer leg (Figure 49) V-arrangement flatfoot bow, interior leg (Figure 62) T shape flatfoot bow.

Outer leg (Figure 49) is described in embodiment 42.

Interior leg (Figure 62) is made up of upper mounting plate, lower platform and three PRS side chains being connected lower platform.The 3-PRS parallel institution is followed successively by moving sets, revolute pair and ball pair from top to bottom.The bottom of side chain links by ball pivot and arch of foot, and arch of foot is a T shape arch of foot.The top P width of cloth is installed on the summit of an equilateral triangle in the upper mounting plate plane, and P width of cloth axis is vertical with the upper mounting plate plane, and R width of cloth axis is vertical with the line at the center of equilateral triangle, and is vertical with the P secondary axis.The P pair is a driving pair.The ball pair of lower end is connected the outer end of T shape arch of foot.The center of three ball pairs is on the summit of an equilateral triangle.Because the 3DOF parallel institution has only upright and lifts the pin function, so the parallel institution that cooperates with it is minimum 5 frees degree to be arranged, comprise three fundamental freedom degree, the free degree turns to and take a step.Divide right and left in the center of the upper mounting plate of two parallel institutions, distance is 0.3 (Ra+Rb), and the phase difference of upper mounting plate is 0.A toe of 3DOF parallel institution is the inside of three toes of leg outside, and two other toe is the outside of three toes of leg outside.

Embodiment 45

Be inside and outside formula structure, 8 free degree walking robots of forming as interior leg (Figure 55) by first kind of 4DOF (2T2R) parallel institution conduct outer leg (Figure 54) and second kind of 4DOF (1T3R) parallel institution.Outer leg O shape flatfoot bow, interior leg Y shape flatfoot bow.Outer leg (Figure 54) is referring to the detailed introduction among the embodiment 36.Interior leg (1T3R) has 4 side chains, and wherein 3 side chains 2 are the PUS structure, and another branch road is PS (a 9) structure.The top P pair of 3 PUS side chains is connected respectively on the equilateral triangle framework of upper mounting plate, and the axis of three P pairs overlaps with three sidelines of equilateral triangle.The plane at three secondary places of P is parallel with upper mounting plate.The bottom ball pivot of 3 PUS side chains is connected respectively on three ankle-joint mount pads.Three ankle-joint mount pads be distributed in an equilateral triangle the summit on.The upper end of the P pair of PS side chain 1.3.3 is affixed to the center (center of the equilateral triangle at the secondary place of other three P) of upper mounting plate.The axis normal of PS side chain and upper mounting plate plane.The secondary lower end of the S of PS side chain is connected to the central upper portion of the protruding arch of foot of Y shape.The PS side chain has limited two translation freedoms of lower platform.Interior leg is used to lift the step and turns to.

Outer leg is bigger, and interior leg is less.Interior leg is positioned at outer midleg, the two dead in line.The upper mounting plate of the two is fixed together.Outer leg is the protruding arch of foot 3 of annular abduction formula, and toes 3 triangles of outer leg are bigger; Interior leg has 4 side chains.Outer leg is the protruding arch of foot 6 of Y shape, and toes 3 triangles of interior leg are less.Interior leg has 4 side chains.Outer leg is fully big, and interior leg is suitably little, guarantees that the two does not interfere.Outer leg hip joint polygon overlaps with the projection of interior leg hip joint polygon on horizontal plane is most of.Outer leg ankle-joint polygon overlaps with the projection of interior leg ankle-joint polygon on horizontal plane is most of.

Embodiment 46

Be front and back formula structure, 8 free degree walking robots that a 4DOF (2T2R) parallel institution (referring to Figure 57) and another 4DOF (1T3R) parallel institution (Figure 55) are formed.

Figure 57 is outer leg stereogram.Outer leg changes C shape flatfoot bow into, and Open Side Down.Two PSS side chains of outer leg are preceding.Figure 55 is interior leg (1T3R) stereogram.Interior leg inverted T-shaped flatfoot bow.A toe of interior leg is the center of three toes of leg outside, and two other toe of interior leg is the outside of three toes of leg outside.This is the robot of walking about.Outer leg is preceding, interior leg after, the centre distance of two upper mounting plates is 0.4 (Ra+Rb).Two upper mounting plates connect firmly together.

Embodiment 47-51 is that a leg lacks the walking robot of Z to translation freedoms, and these several embodiment can only carry out wave intermittent movement (in the walking movement, the center of gravity of robot fluctuates up and down).

Embodiment 47

It is the walking robot of an outer leg six degree of freedom, interior leg Three Degree Of Freedom (0T3R).At first, the P pair in the parallel institution PS side chain shown in Figure 55 is become a rod member, just become a parallel institution with three rotational freedoms, a S pair at center has limited three translation freedoms of lower platform.Replace the interior leg of embodiment 35 then with this new Three Degree Of Freedom (0T3R) parallel institution, outer leg is still used parallel institution shown in Figure 27.So embodiment 35 just has been transformed into embodiment 47.

Embodiment 48

The outer leg (Fig. 5) that is the walking robot of an outer leg six degree of freedom, interior leg two degrees of freedom (0T2R): embodiment 37 is constant, a P pair in three RPS side chains of interior leg (Figure 60) becomes a rod member, and interior leg just becomes a parallel institution (two free degree 2RPS+RS of three side chains) with two rotational freedoms.So embodiment 37 just has been transformed into embodiment 48.

Embodiment 49

Be the walking robot of an outer leg (Figure 50) five degree of freedom, interior leg Three Degree Of Freedom (0T3R): at first, the P pair in the parallel institution PS side chain shown in Figure 55 is become a rod member.The interior leg that replaces embodiment 41 then with this new Three Degree Of Freedom (0T3R) parallel institution is so embodiment 41 just has been transformed into embodiment 49.

Embodiment 50

It is the walking robot of an outer leg five degree of freedom, interior leg two degrees of freedom (0T2R).The outer leg (Figure 46) of embodiment 43 is constant, and a P pair in three RPS side chains on the interior leg (Figure 60) becomes a rod member, and other is constant.So embodiment 43 just has been transformed into embodiment 50.

Embodiment 51

It is the walking robot of an outer leg four-degree-of-freedom (2T2R), interior leg Three Degree Of Freedom (0T3R).P pair in the outer leg (Figure 54) of embodiment 45 is constant in the PS side chain at leg (Figure 55) center becomes a rod member, and other is constant.So embodiment 45 just has been transformed into embodiment 51.

Embodiment 52

It is a 5DOF+3DOF stage body formula parallel robot (referring to Figure 52).In embodiment 43, make the following changes: the height of leg upper mounting plate in the top downward translation of R Submount of the RPS side chain on the outer leg is reduced to, simultaneously, the RPS side chain suitably shortens.So outer leg becomes stage body formula parallel institution.Other is constant.At some in particular cases, stage body formula parallel robot is useful.

Embodiment 53

The parallel robot of forming as interior leg as outer leg and second kind of 4DOF (1T3R) parallel institution (Figure 55) by the 6th kind of 5DOF (3T2R) parallel institution (Figure 59).Outer leg contains and mixes single open chain.Outer leg does not turn to the free degree, so the parallel institution that cooperates with it must have the free degree of turning to.Have only 1T3R four-freedom parallel mechanism, 2T3R five-freedom parallel structure, 3T3R six-degree-of-freedom parallel connection mechanism to cooperate, form walking robot with it.

Outer leg (Figure 59) is made up of upper mounting plate, lower platform and three side chains being connected lower platform.Upper mounting plate 1 is a hexagonal-shaped frame structure 1.1, distributes around it 5 hip joint mount pads 1.1 are installed.A side chain is a SPS side chain 2, and two other side chain is to mix single open chain.First mixes single open chain (10) and is made of two SPS side chains.The bottom ball pair of a SPS side chain is installed on the lower link 1.7 of another SPS side chain.Two ball pairs on top are installed on two adjacent angles of upper mounting plate hexagon.Second is mixed single open chain (9) by the RPR side chain (9.1) of two parallel connections two the RR side chains (9.2) of connecting again.The RPR side chain of two parallel connections is in a plane, and four R secondary axises of the RPR side chain of two parallel connections are parallel, and parallel and upper mounting plate plane, perpendicular to the plane at two RPR places.Two following R parafacies are parallel mutually, and axis is in the plane of the RPR of two parallel connections side chain.Arch of foot 3 is a triangle, and the bottom ball pivot 1.5 of the single open chain of mixing of two SPS side chain compositions is installed on the angle of arch of foot.Second bottom revolute pair of mixing single open chain install arch of foot on second angle, the bottom ball pivot of SPS side chain is installed on the 3rd angle.Second is mixed single open chain and has limited rotational freedom around the Z axle of lower platform.Outer leg can be finished and stand, omnidirectional moves one's steps, but can not turn to.

Interior leg (Figure 55) has been described at embodiment 46.

Outer leg is bigger, and interior leg is less.Interior leg is positioned at outer midleg, the two dead in line.The triangle arch of foot of outer leg is bigger; The Y shape arch of foot of interior leg is less; Outer leg is fully big, and interior leg is suitably little, guarantees that the two does not interfere.Two upper mounting plates connect firmly together.Outer leg ankle-joint polygon overlaps with the projection of interior leg ankle-joint polygon on horizontal plane is most of.

Embodiment 54

Be that ankle is installed the 2x 6DOF structure walking robot that broad sense moves the width of cloth.Figure 63 installs the partial view of the 2x 6DOF structure walking robot ankle-joint of the mobile width of cloth for ankle.On the basis of embodiment 1 (Fig. 3, Fig. 4), the arch of foot 3 of two walking leg mechanisms and 6 ones, install respectively three can move down move 7.These moving sets can be used as driving pair, drive the upper mounting plate motion.Three of the annular arch of foot of leg ankle-joint mount pad 1.9 places outside, the middle part of two adjacent ankle-joints 1.5, three cylinder width of cloth (oil cylinder) 7 are installed respectively, the axis normal of the cylinder width of cloth is in horizontal plane, cylinder body 7.1 is positioned at the top of ankle-joint 1.5, toe 1.10 is installed in the lower end of piston rod 7.2, and piston rod 7.2 can stretch out downwards.It is similar to the installation that interior leg moves the width of cloth that outer leg moves the installation of the width of cloth.Piston rod withdrawal is at ordinary times stretched out when needing.Do not increase the height of robot at ordinary times.The mobile width of cloth of interior leg is installed with outer leg similar.

Embodiment 55

It is the 2x 6DOF structure walking robot that another kind of ankle is installed the mobile width of cloth.On the basis of embodiment 24 (Figure 38),, three mobile 7 (total six moving sets) that can move down are installed respectively at the ankle-joint mount pad 1.9,2.9 of two leg mechanisms.The partial view of ankle-joint is referring to Figure 60.

Embodiment 56

It is a parallel robot with operator.On the basis of embodiment 4 (Figure 12, Figure 13, Figure 14), one of them arch of foot is changed into the flatfoot bow, on two arch of foots, two end effectors (for example scalpel) are installed respectively, two upper mounting plates are fixed on the pedestal, get final product.

Embodiment 57

It is another parallel robot with operator.On the basis of embodiment 24 (Figure 38, Figure 39), on each arch of foot, an end effector (for example scalpel) is installed respectively, two upper mounting plates are fixed on the pedestal, can form embodiment 57.

Claims (11)

1. the method for attachment of a space walking robot in parallel, particularly comprise the method for attachment of the robot that two groups of parallel institutions of A, B constitute, each parallel institution comprises upper mounting plate, lower platform and the side chain more than three or three that connects upper mounting plate, lower platform again, it is characterized in that two parallel institution methods of attachment comprise:
(1), described parallel institution should meet following condition:
The free degree sum of a, two parallel institutions is more than or equal to 7; B, each parallel institution all must comprise the free degree and the rotational freedom that rotates around Y-axis that rotate around X-axis at least; In c, two parallel institutions, also must comprise one at least and be called the free degree of rotating around the Z axle that turns to the free degree; In d, two parallel institutions, at least on a parallel institution, also must have at least one along the free degree of X-direction translation with along the combination of Z-direction translation freedoms or along the free degree of Y direction translation and combination along the Z-direction translation freedoms;
(2) upper mounting plate of A, two parallel institutions of B is fixed together, and distance between two projections of the polygonal center of parallel institution hip joint on horizontal plane and correlation are a kind of in following two kinds of situations:
The projector distance of the polygonal center of the hip joint of a, two parallel institutions on horizontal plane is 0 or smaller or equal to 0.25 (Ra+Rb), the lateral dimension that only compares two parallel institutions, a described parallel institution is bigger than another parallel institution, less parallel institution is interior, and bigger parallel institution outside;
The distance of the polygonal center of the hip joint of b, two parallel institutions between the projection on the horizontal plane more than or equal to 0.25 (Ra+Rb) smaller or equal to 0.8 (Ra+Rb),
Wherein
Ra is the radius of a circle that can comprise the minimum of all toes of A parallel institution;
Rb is the radius of a circle that can comprise the minimum of all toes of B parallel institution;
(3), the lower platform of A, two parallel institutions of B by two independent mutually, do not have the arch of foot that interferes with each other and do not interfere with other side chain and constitute, arch of foot comprises arch arm, ankle-joint mount pad, toe; The arch of foot of two mutually noninterferes constitutes a pair of arch of foot pair, when the projection of toe polygon on horizontal plane of a parallel institution comprises at least one toe of another parallel institution, previous parallel institution is called outer leg, the parallel institution in back is called interior leg, and the arch of foot pair is a kind of in following four kinds of arch of foot pairs:
A, outer leg are the cohesive type arch of foots, and interior leg is the cohesive type arch of foot;
B, outer leg are the cohesive type arch of foots, and interior leg is an abduction formula arch of foot;
C, outer leg are abduction formula arch of foots, and interior leg is the cohesive type arch of foot;
D, outer leg are abduction formula arch of foots, and interior leg is an abduction formula arch of foot;
And each all will satisfy one of following condition: a, an arch of foot height to the arch of foot pair, and an arch of foot is low, and b, two arch of foots are equally high.
2. realize the walking robot in parallel of claim 1 method, the parallel robot that particularly comprises A, two parallel institutions of B, each group parallel institution comprises upper mounting plate again, and lower platform and the side chain more than three or three that connects upper mounting plate, lower platform is characterized in that:
(1), described parallel institution should meet following condition:
The free degree sum of a, two parallel institutions is more than or equal to 7;
B, each parallel institution all must comprise the free degree and the rotational freedom that rotates around Y-axis that rotate around X-axis at least;
In c, two parallel institutions, also must comprise one at least and be called the free degree of rotating around the Z axle that turns to the free degree;
In d, two parallel institutions, at least on a parallel institution, also must have at least one along the free degree of X-direction translation with along the combination of Z-direction translation freedoms or one along the free degree of Y direction translation with combination along the Z-direction translation freedoms;
(2) upper mounting plate of A, two parallel institutions of B is fixed together, and distance between the projection of the polygonal center of the hip joint of two parallel institutions on horizontal plane and correlation are a kind of in following two kinds of situations:
The projector distance of the polygonal center of the hip joint of a, two parallel institutions on horizontal plane is 0 or less than 0.25 (Ra+Rb), the lateral dimension that only compares two parallel institutions, a described parallel institution is bigger than another parallel institution, less parallel institution is interior, and bigger parallel institution outside;
The distance of the polygonal center of the hip joint of b, two parallel institutions between the projection on the horizontal plane more than or equal to 0.25 (Ra+Rb) smaller or equal to 0.8 (Ra+Rb);
Wherein
Ra is the radius of a circle that can comprise the minimum of all toes of A parallel institution;
Rb is the radius of a circle that can comprise the minimum of all toes of B parallel institution;
(3), the lower platform of A, two parallel institutions of B by two mutually independent, do not have the arch of foot that interferes with each other and do not interfere with other side chain and constitute, arch of foot comprises arch arm, ankle-joint mount pad, toe, arch of foot and the arch of foot on the interior leg on the outer leg of two mutually noninterferes constitute a pair of arch of foot pair, when the projection of toe polygon on horizontal plane of a parallel institution comprises at least one toe of another parallel institution, previous parallel institution is called outer leg, and a back parallel institution is called interior leg; The arch of foot pair is a kind of in following four kinds of arch of foot pairs:
A, outer leg are the cohesive type arch of foots, and interior leg is the cohesive type arch of foot;
B, outer leg are the cohesive type arch of foots, and interior leg is an abduction formula arch of foot;
C, outer leg are abduction formula arch of foots, and interior leg is the cohesive type arch of foot;
D, outer leg are abduction formula arch of foots, and interior leg is an abduction formula arch of foot;
And, each to the arch of foot pair all to satisfy one of following condition: a, an arch of foot is higher, an arch of foot is lower; B, two arch of foots are equally high.
3. by the described walking robot in parallel of claim 2, it is characterized in that: the arch of foot of described two parallel institutions is a kind of in following three kinds of arch of foots:
(1), flatfoot bow;
(2), protruding arch of foot;
(3), recessed arch of foot.
4. by claim 2 or 3 described walking robots in parallel, it is characterized in that: the phase place of described two parallel institutions is a kind of in following four kinds:
(1), the phase difference of two parallel institutions value between the 0-10 degree;
(2), the phase difference of two parallel institutions value between the 50-70 degree;
(3), the phase difference of two parallel institutions value between the 80-100 degree;
(4), the phase difference of two parallel institutions value between the 170-190 degree.
5. by claim 2 or 3 described many rings walking robot in parallel, it is characterized in that: described A leg mechanism in parallel is select from 6DOF, 5DOF, 4DOF, 3DOF, 2DOF parallel institution a kind of; Described B leg mechanism in parallel also is select from 6DOF, 5DOF, 4DOF, 3DOF, 2DOF parallel institution a kind of.
6. by any one described walking robot in parallel in the claim 2 to 4, it is characterized in that: the side chain of described two parallel institutions can be formed by following side chain, and a parallel institution can use a kind of side chain, also can use multiple side chain:
(1), the SPS side chain, be the ball pair from top to bottom successively, moving sets, ball pair;
(2), the PSS side chain, be moving sets from top to bottom successively, ball pair, ball pair;
(3), the RSS side chain, be revolute pair from top to bottom successively, ball pair, ball pair;
(4), the SRS side chain, be the ball pair from top to bottom successively, revolute pair, ball pair.
7. by any one described walking robot in parallel in the claim 2 to 6, it is characterized in that: described two leg mechanisms in parallel can be stage body formula parallel institutions, it also can be platform-type parallel institution, perhaps a parallel institution is a stage body formula structure, and another parallel institution is platform-type structure.
8. by any one described walking robot in parallel in the claim 2 to 7, it is characterized in that: the shape of described parallel institution is one of following three kinds of shapes:
(1) column parallel institution,
(2) positive terrace with edge shape parallel institution,
(3) chamfered edge platform shape parallel institution.
9. by any one described walking robot in parallel in the claim 2 to 8, it is characterized in that: described toe is six, is divided into two groups, and same group of toe comprises two toes on the parallel institution, three every group, is arranged on two parallel lines.
10. by any one described walking robot in parallel in the claim 2 to 9, it is characterized in that: the bottom of described arch of foot, the broad sense moving sets of connecting at least, the axis of broad sense moving sets is vertical with upper mounting plate.
11. any one described walking robot in parallel in the claim 2 to 9, it is characterized in that: described two upper mounting plates are fixed on the pedestal, the lower platform of two parallel institutions is unsettled, be connected with end effector on the lower platform of two parallel institutions respectively, the free degree sum of two parallel institutions is more than or equal to 9.
CN2010102924241A 2010-09-27 2010-09-27 Method for connecting parallel connection walking robots and parallel connection walking robot thereof CN101973027B (en)

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