CN102910220B - Omni-directional biped walking robot - Google Patents
Omni-directional biped walking robot Download PDFInfo
- Publication number
- CN102910220B CN102910220B CN201210445229.7A CN201210445229A CN102910220B CN 102910220 B CN102910220 B CN 102910220B CN 201210445229 A CN201210445229 A CN 201210445229A CN 102910220 B CN102910220 B CN 102910220B
- Authority
- CN
- China
- Prior art keywords
- crank
- exopodal
- foot
- revolute pair
- rotation axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention discloses an omni-directional biped walking robot. The omni-directional biped walking robot is characterized by comprising a lower outer foot (1), an upper outer foot (2), a first crank (3), a second crank (4), an upper inner foot (5) and a lower inner foot (6), wherein the upper inner foot (5) and the lower inner foot (6) are connected with each other in the form of a revolute pair, the lower inner foot (6) and the first crank (3) are connected with each other in the form of a cylindrical pair, the first crank (3) and the upper outer foot (2) are connected with each other in the form of a revolute pair, the upper outer foot (2) and the lower outer foot (1) are connected with each other in the form of a revolute pair, the lower outer foot (1) and the second crank (4) are connected with each other in the form of a revolute pair, and the second crank (4) and the upper inner foot (5) are connected with each other in the form of a cylindrical pair. The omni-directional biped walking robot is provided with three motors for driving, realizes omni-directional movement in a plane through three motion patterns, is simple in mechanism, is high in walking stability and flexible, simple and convenient in steering because the inner feet and the outer feet are in geometrical symmetry, still can walk in a turnover state, and has a certain obstacle climbing ability.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of comprehensive two-foot walking robot.
Background technology
Walking robot has the advantage that motion is flexible, ground is adaptable, so more and more receive the concern of researchist.Conventional two-foot walking robot, although can complete every " complexity " actions such as 8-shaped walking, up/down steps, robot degree of freedom is more, complex structure, and power consumption is large, requires all very high to the software and hardware each side controlled.Chinese patent CN181990IA discloses the lower part of the body module of bipod walking robot, two legs adopts parallel institution respectively, each straight-line motion connecting rod forming parallel institution is the drive system of this robot, this structure makes each rod member actv. share the load of robot, but its part is many, control complicated, the sufficient unstability in left and right easily occurs during walking, turn to gait complicated.
Summary of the invention
The technical problem to be solved in the present invention: two-foot walking robot generally adopts the mechanical mechanism of apery type, the parts of robot body are many, and require higher to Control system resolution, cost is high.
Technical scheme of the present invention:
Comprehensive two-foot walking robot, this mechanism comprises interior sufficient, lower interior sufficient, upper exopodal, lower exopodal, the first crank, and the second crank, upper interior foot is called interior foot together with lower interior foot, and upper exopodal is called exopodal together with lower exopodal.
In upper, foot is connected by revolute pair with lower interior foot, and lower interior foot is connected by cylindrical pair with the first crank, and the first crank is connected by revolute pair with lower exopodal.
Lower exopodal is connected by revolute pair with upper exopodal, and upper exopodal is connected by revolute pair with the second crank, and the second crank is connected by cylindrical pair with upper interior foot.
The rotation axis parallel of the revolute pair between lower exopodal and the first crank and the cylindrical pair between the first crank and lower interior foot, the rotation axis parallel of the revolute pair between upper exopodal and the second crank and the cylindrical pair between the second crank and upper interior foot.
The rotation axis of two cylindrical pairs is vertical and have certain departure distance, the rotation axis parallel of the cylindrical pair that same crank connects and revolute pair.
Vertical and have certain departure distance between the rotation axis of the revolute pair that two cranks connect separately, the rotational axis offset of this departure distance and two cylindrical pairs is apart from equal.
The rotation axis parallel of the revolute pair between interior foot and the revolute pair between exopodal, and perpendicular to the rotation axis of other kinematic pairs.
M1 motor drives the first crank to rotate relative to upper exopodal.
M2 motor drives the second crank to rotate relative to lower exopodal.
M3 motor drives upper exopodal to rotate relative to lower exopodal.
Beneficial effect of the present invention: comprehensive two-foot walking robot of the present invention, respectively mechanism is driven by three motors and the motion of control realization mechanism, interior foot and exopodal lift successively and land and realize walking gait, and can all-around mobile in plane.This mechanism structure is simple, and interior exopodal geometry is symmetrical, and row regularity oftimekeeping is high, turn to flexible and convenient, and due to the symmetry of mechanism structure in the vertical direction, comprehensive two-foot walking robot still can realize walking under upturned state, and has certain obstacle climbing ability.The acceleration capability dependence of this mechanism to drive motor is lower, lower to the performance requriements of motor, with low cost, is easy to manufacture and Project Realization.Can be used for making toy, teaching aid, also can be used for making military.
Accompanying drawing explanation
The overall graphics of the comprehensive two-foot walking robot of Fig. 1
The graphics of Fig. 2 comprehensive two-foot walking robot first crank and the second crank
Fig. 3 M3 motor adjusts the angle schematic diagram between two cranks
Fig. 4 a, Fig. 4 b, Fig. 4 c, Fig. 4 d, Fig. 4 e, Fig. 4 f, Fig. 4 g, Fig. 4 h are M3 electric motor lockings, and M1 motor or M2 motor drive the exploded drawings of comprehensive two-foot walking robot walking (i.e. walking mode I)
The unusual bit-type position of the comprehensive two-foot walking robot of Fig. 5 under walking mode II
Fig. 6 a, Fig. 6 b, Fig. 6 c, Fig. 6 d, Fig. 6 e, Fig. 6 f, Fig. 6 g, Fig. 6 h are the exploded drawingss of the unusual bit-type position walking of comprehensive two-foot walking robot under walking mode II
Fig. 7 a, Fig. 7 b, Fig. 7 c, Fig. 7 d, Fig. 7 e, Fig. 7 f, Fig. 7 g, Fig. 7 h are the exploded drawingss that motor M 3 and M1 (or M2) drive comprehensive two-foot walking robot to walk under walking mode III
In figure: lower exopodal 1, upper exopodal 2, first crank 3, second crank 4, upper interior foot 5, lower interior foot 6.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further details.
Embodiments of the present invention: comprehensive two-foot walking robot as shown in Figure 1, is connected to form by crank by foot in cylinder exopodal and cuboid.
Comprehensive two-foot walking robot as shown in Figure 1, it is characterized in that: this mechanism comprises lower exopodal (1), upper exopodal (2), first crank (3), second crank (4), foot (5) in upper, foot (6) in lower, lower exopodal (1) is identical with upper exopodal (2) structure, first crank (3) is identical with the second crank (4) structure, in upper, foot (5) is identical with lower interior foot (6) structure, upper exopodal (1) and lower exopodal (2) are called exopodal together, in upper, foot (5) and lower interior foot (6) are called interior foot together, as Fig. 1, shown in Fig. 2, in upper, foot (5) is connected with revolute pair form with lower interior foot (6), the axis hole of lower exopodal (2) is sentenced revolute pair form in the first crank front end (3a) with the first crank rear end (3c) with the first crank (3) and is connected, first crank (3) is sentenced cylindrical pair form with the axis hole of lower interior foot (6) in the first crank stage casing (3b) and is connected, the axis hole of upper exopodal (2) is sentenced revolute pair form at the second crank (4a) with the second crank (4c) with the second crank (4) and is connected, second crank (4) is sentenced cylindrical pair form with the axis hole of upper interior foot (5) in the second crank stage casing (4b) and is connected, lower exopodal (2) is connected with revolute pair form with upper exopodal (1), the rotation axis parallel of the revolute pair between lower exopodal (1) and the first crank (3) and the cylindrical pair between the first crank (3) and lower interior foot (6), the rotation axis parallel of the revolute pair between upper exopodal (2) and the second crank (4) and the cylindrical pair between the second crank (4) and upper interior foot (5), the rotation axis of two cylindrical pairs is vertical and have certain departure distance, the rotation axis parallel of the cylindrical pair that same crank connects and revolute pair, the rotation axis of the revolute pair that two cranks connect separately is vertical and have certain departure distance, the rotational axis offset of this departure distance and two cylindrical pairs is apart from equal, the rotation axis parallel of the revolute pair between interior foot and the revolute pair between exopodal, and perpendicular to the rotation axis of other kinematic pairs, M1 motor drives the first crank (3) to rotate relative to upper exopodal (1), M2 motor drives the second crank (4) to rotate relative to lower exopodal (2), M3 motor drives upper exopodal (1) to rotate relative to lower exopodal (2).
Concrete using method: when supposing that two cranks forward extreme higher position to, input angle is α
1=0 °, α
2=0 °, suppose that two intercrank included angles are θ
Walking mode I:
When angle θ is the fixed value being not equal to 90 °, so the institution freedom number of degrees will be 1.Only need a motor (M1 or M2) that comprehensive two-foot walking robot just can be driven to move along a straight line with fixing step-length.The direction of this straight line is the angular bisector direction of two cranks.As shown in Figure 3, as input angle α
1and α
2when equaling 0 ° or 180 °, when namely two motors (M1 and M2) rotate to 0 ° or 180 ° of positions, the geometric centre of interior exopodal will on same vertical curve.At this moment locking two motors (M1 and M2), comprehensive two-foot walking robot stop motion.Then, motor M 3 works the angle theta between adjustment two cranks, thus adjusts the direction of travel of comprehensive two-foot walking robot.Next, locking motor M 3, motor M 1 or M2 drive comprehensive two-foot walking robot along the direction walking of new adjustment.
As shown in Figure 4, motor M 3 locking, motor (M1 or M2) drives comprehensive two-foot walking robot along the direction walking of setting.Fig. 4 a represents initial position that comprehensive two-foot walking robot is in (exopodal land interior foot lift in vertex position), motor M 1 or M2 produce a moment and make interior foot fall (Fig. 4 b) to land (Fig. 4 c), afterwards, interior foot is as fixed link, same moment drives exopodal to lift (Fig. 4 d) and falls (Fig. 4 f) again to vertex (Fig. 4 e) and land (Fig. 4 g), exopodal is motionless as fixed link, and interior foot is raised up to vertex.
Walking mode II:
When angle θ equals 90 ° and angle α
1and α
2when all equaling 0 ° or 180 °, the degree of freedom of mechanism is 2, now, is in unusual bit-type position, needs two motor-driven mechanism motions.When θ equals 90 ° and angle α
1and α
2when being all not equal to 0 ° or 180 °, the degree of freedom of mechanism is 1, only needs a motor-driven mechanism motion.Be illustrated in figure 5 two the unusual bit-type positions of comprehensive two-foot walking robot under walking mode II, wherein: Fig. 5 a is angle α
1and α
2all equal the position of 0 °, Fig. 5 b is angle α
1and α
2all equal the position of 180 °.Be illustrated in figure 6 the walking step state in one-period.Fig. 6 a represents initial position that comprehensive two-foot walking robot is in (exopodal land interior foot lift in vertex position), and namely unusual bit-type position, in this position, two motors must work to determine interior sufficient moving direction simultaneously.Then, interior foot falls (Fig. 6 c) and lands.In like manner, after interior foot lands, exopodal lifts (Fig. 6 d) falls (Fig. 6 f) and lands to vertex (Fig. 6 d).
Walking mode III:
Comprehensive two-foot walking robot is not equal to 90 ° at angle θ, M3 motor not locking time, degree of freedom is 2.Need to drive comprehensive two-foot walking robot to walk with two motor M 3 and M1 (or M2) simultaneously.By the nyctitropic walking of variable step can be realized to the control of these two motors.As shown in Figure 7, Fig. 7 a, Fig. 7 b, Fig. 7 c, Fig. 7 d, Fig. 7 e, Fig. 7 f, Fig. 7 g, Fig. 7 h are the exploded drawingss that motor M 3 and M1 (or M2) drive comprehensive two-foot walking robot to walk under walking mode III.
Claims (2)
1. comprehensive two-foot walking robot, it is characterized in that: this mechanism comprises lower exopodal (1), upper exopodal (2), first crank (3), second crank (4), foot (5) in upper, foot (6) in lower, lower exopodal (1) is identical with upper exopodal (2) structure, first crank (3) is identical with the second crank (4) structure, in upper, foot (5) is identical with lower interior foot (6) structure, upper exopodal (1) and lower exopodal (2) are called exopodal together, in upper, foot (5) and lower interior foot (6) are called interior foot together, in upper, foot (5) is connected with revolute pair form with lower interior foot (6), the axis hole of lower exopodal (2) is sentenced revolute pair form in the first crank front end (3a) with the first crank rear end (3c) with the first crank (3) and is connected, first crank (3) is sentenced cylindrical pair form with the axis hole of lower interior foot (6) in the first crank stage casing (3b) and is connected, the axis hole of upper exopodal (2) is sentenced revolute pair form at the second crank (4a) with the second crank (4c) with the second crank (4) and is connected, second crank (4) is sentenced cylindrical pair form with the axis hole of upper interior foot (5) in the second crank stage casing (4b) and is connected, lower exopodal (2) is connected with revolute pair form with upper exopodal (1), the rotation axis parallel of the revolute pair between lower exopodal (1) and the first crank (3) and the cylindrical pair between the first crank (3) and lower interior foot (6), the rotation axis parallel of the revolute pair between upper exopodal (2) and the second crank (4) and the cylindrical pair between the second crank (4) and upper interior foot (5), the rotation axis of two cylindrical pairs is vertical and have certain departure distance, the rotation axis parallel of the cylindrical pair that same crank connects and revolute pair, the rotation axis of the revolute pair that two cranks connect separately is vertical and have certain departure distance, the rotational axis offset of this departure distance and two cylindrical pairs is apart from equal, the rotation axis parallel of the revolute pair between interior foot and the revolute pair between exopodal, and perpendicular to the rotation axis of other kinematic pairs, M1 motor drives the first crank (3) to rotate relative to upper exopodal (1), M2 motor drives the second crank (4) to rotate relative to lower exopodal (2), M3 motor drives upper exopodal (1) to rotate relative to lower exopodal (2), the profile of interior foot and exopodal is various.
2. comprehensive two-foot walking robot as claimed in claim 1, is characterized in that: under different walking modes, and the motor that completing mechanism kinematic needs drives quantity to be respectively 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210445229.7A CN102910220B (en) | 2012-11-08 | 2012-11-08 | Omni-directional biped walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210445229.7A CN102910220B (en) | 2012-11-08 | 2012-11-08 | Omni-directional biped walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102910220A CN102910220A (en) | 2013-02-06 |
| CN102910220B true CN102910220B (en) | 2014-12-24 |
Family
ID=47608855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210445229.7A Active CN102910220B (en) | 2012-11-08 | 2012-11-08 | Omni-directional biped walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102910220B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101428420A (en) * | 2008-12-17 | 2009-05-13 | 哈尔滨工业大学 | Ultra-redundancy all-directional movable operating arm |
| CN201329912Y (en) * | 2009-01-15 | 2009-10-21 | 北京交通大学 | Three-pole two-foot walking mechanism |
-
2012
- 2012-11-08 CN CN201210445229.7A patent/CN102910220B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101428420A (en) * | 2008-12-17 | 2009-05-13 | 哈尔滨工业大学 | Ultra-redundancy all-directional movable operating arm |
| CN201329912Y (en) * | 2009-01-15 | 2009-10-21 | 北京交通大学 | Three-pole two-foot walking mechanism |
Non-Patent Citations (4)
| Title |
|---|
| Biped RCCM Mechanism;Liu Chao Yao Yan-An;《Journal of Mechanical Design》;20090331;1-6 * |
| 一种空间四杆两足步行机构的研究;邓孔书 姚燕安 查建中;《工程设计学报》;20051231;第12卷(第6期);363-365 * |
| 基于空间RCCR机构的双足步行机器人;刘超 姚燕安;《机械设计与研究》;20081231;238-240 * |
| 空间单闭链两足步行连杆机构的研究;刘超;《北京交通大学博士学位论文》;20131231;65-66 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102910220A (en) | 2013-02-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103345285B (en) | A kind of quadruped robot remote control thereof | |
| CN103661669A (en) | Wheel-legged robot chassis suspension device | |
| CN102765433B (en) | Novel wheel-leg type robot with variable structure | |
| CN103963869A (en) | Elliptic gear drive walking robot and manufacturing method thereof | |
| CN102849140B (en) | Multi-moving-mode bionic moving robot | |
| CN102615649B (en) | Rolling double four-parallelogram robot | |
| CN110843952B (en) | Biped robot capable of wheeled movement and working method thereof | |
| CN106809294B (en) | The walking robot of cam link combined mechanism driving | |
| CN102179812A (en) | Ball-shaped robot used for detection | |
| CN102009708A (en) | Scaling roll mechanism | |
| CN109050697B (en) | Multi-mode full-attitude moving parallel mechanism | |
| CN105691483A (en) | Hexapod walking robot | |
| CN205085966U (en) | From reconsitution modularization movable robot system modular unit | |
| CN102672707B (en) | Differential seven-connecting-rod robot traveling in rolling way | |
| US20230264356A1 (en) | Method and apparatus for control robot to perform somersault motion, and robot | |
| KR20140111162A (en) | Multi joint robot to drive rough terrain | |
| CN106427390A (en) | Omnidirectional wheel, omnidirectional wheel and mobile robot including robot moving platform | |
| CN112373594A (en) | Wheel-leg hybrid drive type mining metamorphic robot | |
| Chang et al. | Design and implementation of a novel spherical robot with rolling and leaping capability | |
| CN102910220B (en) | Omni-directional biped walking robot | |
| CN109774806B (en) | Steerable rolling four-bar mechanism | |
| CN103010327A (en) | Single-motor driven climbing jumping robot | |
| CN108820067B (en) | Multi-mode step rolling moving mechanism and working method thereof | |
| CN101830252B (en) | Deformable two-foot walking machine | |
| CN216505167U (en) | Bionic cockroach detection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |