CN107856755A - A kind of eight sufficient step-by-step machine robot mechanisms - Google Patents
A kind of eight sufficient step-by-step machine robot mechanisms Download PDFInfo
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- CN107856755A CN107856755A CN201710951446.6A CN201710951446A CN107856755A CN 107856755 A CN107856755 A CN 107856755A CN 201710951446 A CN201710951446 A CN 201710951446A CN 107856755 A CN107856755 A CN 107856755A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
A kind of eight sufficient step-by-step machine robot mechanisms, including two closed chain six-bar mechanisms and eight open chain pedipulators, it is characterized in that, described two closed chain six-bar mechanisms include the first closed chain six-bar mechanism and the second closed chain six-bar mechanism, and eight open chain pedipulators include the first open chain pedipulator, the second open chain pedipulator, the 3rd open chain pedipulator, the 4th open chain pedipulator, the 5th open chain pedipulator, the 6th open chain pedipulator, the 7th open chain pedipulator and the 8th open chain pedipulator；The deformation of described two close chain five-bar mechanisms is main drive source, and the robot mechanism can be driven to realize and flexibly turned to, and the robot mechanism can complete pitching motion, and adaptive capacity to environment is good, has the features such as rigidity is big, large carrying capacity.
Description
Technical field
The present invention relates to robot mechanism design field, particularly a kind of eight sufficient step-by-step machine robot mechanisms.
Background technology
With the continuous improvement of robot mechanism technical merit, the bionic machine robot mechanism day of the imitation various animals of the Nature
Benefit turns into study hotspot, and compared to wheel type machine robot mechanism, multi-foot robot mechanism contacts with ground to be contacted for point, ground adaptability
Good, obstacle climbing ability is strong, extensive in the applications such as disaster search and rescue and field detection.
But multi-foot robot mechanism generally using leg installation motor driving, there is pedipulator number it is excessive when, drive
Dynamic complexity, when number is very few, the problem of functional reliability is again relatively low, and also leg structure is mostly tandem, during driving,
Bearing capacity deficiency.Such as Chinese patent ZL 201510259869.2 is disclosed a kind of waist and imitated using the polypody of metamorphic mechanisms
Raw robot, robot imitation animal realizes pitching and the action that sways one's hips, but relies on four legs to drive bio-robots, wherein
Any leg breaks down, and robot can not all work on.Multi-foot robot mechanism and this patent class disclosed in other patents
Seemingly.
There are no can overcome above mentioned problem, while can realize and flexibly turn to, and possess pitching motion, changing mechanism width is with suitable
Narrow space is answered, and rigidity is high, the multi-foot robot mechanism of large carrying capacity.
The content of the invention
It is an object of the invention to provide a kind of eight sufficient step-by-step machine robot mechanisms, it can overcome existing multi-foot robot mechanism
Deficiency, robot mechanism has eight open chain pedipulators, and the deformations of two closed chain six-bar mechanisms is main driving, mechanism rigidity
Height, large carrying capacity, turn to flexibly, pitching motion, good environmental adaptability can be completed.
The present invention reaches above-mentioned purpose by the following technical programs：
A kind of eight sufficient step-by-step machine robot mechanisms, including two closed chain six-bar mechanisms and eight open chain pedipulators, its feature
It is, described two closed chain six-bar mechanisms include the first closed chain six-bar mechanism and the second closed chain six-bar mechanism；
The first closed chain six-bar mechanism includes the first bar, the second bar, the 3rd bar, the 4th bar, the 5th bar and the 6th bar, the
One bar one end is connected with second bar one end by first axle, and the second bar other end is connected with the 3rd bar one end by second hinge
Connect, the 3rd bar other end is connected with the 4th bar one end by third hinge, and the 4th bar other end and the 5th bar one end pass through the 4th
Hinge connection, the 5th bar other end and the 6th bar one end pass through the 5th hinge connection, the 6th bar other end and the first bar other end
By the 6th hinge connection, first axle is parallel with the 4th hinge axes, second hinge, third hinge, the 5th hinge and the 6th
Hinge axes are parallel, and first axle is vertical with second hinge axis；
The second closed chain six-bar mechanism includes the 7th bar, the 8th bar, the 9th bar, the tenth bar, the 11st bar and the 12nd
Bar, the 7th bar one end pass through the 8th hinge with the 8th bar one end by the 7th hinge connection, the 8th bar other end and the 9th bar one end
Chain link, the 9th bar other end and the tenth bar one end are led to by the 9th hinge connection, the tenth bar other end with the 11st bar one end
Cross the tenth hinge connection, the 11st bar other end and the 12nd bar one end and pass through the 11st hinge connection, the 12nd bar other end
It is connected with the 7th bar other end by the tenth two hinge, the 7th hinge and the tenth hinge axes are parallel, the 8th hinge, the 9th hinge
Chain, the 11st hinge and the tenth two hinge diameter parallel, the 7th hinge is vertical with the 8th hinge axes, and with first axle axis
It is parallel；
Eight open chain pedipulators include the first open chain pedipulator, the second open chain pedipulator, the 3rd open chain pedipulator, the
Four open chain pedipulators, the 5th open chain pedipulator, the 6th open chain pedipulator, the 7th open chain pedipulator and the 8th open chain pedipulator, the
One open chain pedipulator includes first connecting rod, the first thigh bar and the first shank bar, and first thigh bar one end passes through the 13rd hinge
It is connected with first connecting rod, the other end is connected by the 14th hinge with the first shank bar, and the second open chain pedipulator includes second and connected
Bar, the second thigh bar and the second shank bar, first connecting rod are hinged with the first bar, second thigh bar one end by the 15th hinge with
Second connecting rod is connected, and the other end is connected by the 16th hinge with the second shank bar, and second connecting rod is hinged with the second bar, and the 3rd opens
Chain pedipulator includes third connecting rod, the third-largest leg bar and the 3rd shank bar, and the third-largest leg bar one end passes through the 17th hinge and
Three connecting rods are connected, and the other end is connected by the 18th hinge with the 3rd shank bar, and third connecting rod is hinged with the 4th bar, the 4th open chain
Pedipulator includes fourth link, the fourth-largest leg bar and the 4th shank bar, and the fourth-largest leg bar one end passes through the 19th hinge and the 4th
Connecting rod is connected, and the other end is connected by the 20th hinge with the 4th shank bar, and fourth link is hinged with the 5th bar, the 5th open chain machine
Tool leg includes the 5th connecting rod, the fifth-largest leg bar and the 5th shank bar, and the fifth-largest leg bar one end passes through the 21st hinge and the 5th
Connecting rod is connected, and the other end is connected by the 20th two hinge with the 5th shank bar, and the 5th connecting rod is hinged with the 7th bar, the 6th open chain
Pedipulator includes six-bar linkage, the sixth-largest leg bar and the 6th shank bar, and the sixth-largest leg bar one end passes through the 23rd hinge and
Six-bar linkage is connected, and the other end is connected by the 24th hinge with the 6th shank bar, and six-bar linkage is hinged with the 8th bar, and the 7th opens
Chain pedipulator includes seven-link assembly, the seventh-largest leg bar and the 7th shank bar, the seventh-largest leg bar one end by the 25th hinge with
Seven-link assembly is connected, and the other end is connected by the 26th hinge with the 7th shank bar, and seven-link assembly is hinged with the tenth bar, and the 8th
Open chain pedipulator includes the 8th connecting rod, the eighth-largest leg bar and the 8th shank bar, and the eighth-largest leg bar one end passes through the 27th hinge
It is connected with the 8th connecting rod, the other end is connected by the 28th hinge with the 8th shank bar, and the 8th connecting rod is hinged with the 11st bar.
13rd hinge, the 14th hinge, the 15th hinge, the 16th hinge, the 17th hinge, the 18th hinge, the 19th hinge,
20th hinge, the 21st hinge, the 20th two hinge, the 23rd hinge, the 24th hinge, the 25th hinge,
26th hinge, the 27th hinge and the 28th hinge axes are parallel.
6th bar and the 12nd bar are connected by the 29th hinge connection, the 3rd bar and the 9th bar by the 30th hinge
Connect, the 29th hinge and the 30th hinge axes are parallel, vertical with first axle axis；
A kind of eight sufficient step-by-step machine robot mechanisms, the first bar, the second bar, the 4th bar and the 5th pole length are identical, the 3rd bar
It is identical with the 6th pole length；7th bar, the 8th bar, the tenth bar and the 11st pole length are identical, the 9th bar and the 12nd pole length
It is identical.
A kind of eight sufficient step-by-step machine robot mechanisms, the first thigh bar, the second thigh bar, the third-largest leg bar and the fourth-largest leg bar
Length is identical, and the first shank bar, the second shank bar, the 3rd shank bar and the 4th shank pole length are identical, the fifth-largest leg bar, the 6th
Thigh bar, the seventh-largest leg bar are identical with the eighth-largest leg pole length, the 5th shank bar, the 6th shank bar, the 7th shank bar and the 8th
Shank pole length is identical.
Fig. 1-Fig. 7 is the first structure state of this eight sufficient step-by-step machine robot mechanism, and this structure state is the main work of robot mechanism
Make state, the deformation of two closed chain six-bar mechanisms is main drive source, and eight open chain pedipulators are auxiliary driving source, pass through driving
29th hinge and the 30th hinge realize the deformation of closed chain six-bar mechanism, when two closed chain six-bar mechanism deformation directions differ
During cause, driving robot mechanism advances or changes fuselage width, such as Fig. 5 or Fig. 6；When two six bar parallel institution deformation directions
Consistent or one of bar of closed chain six is indeformable, when another closed chain six-bar mechanism deforms, can flexibly realize steering, such as schemes
2nd, Fig. 3 and Fig. 4；Robot mechanism realizes pitching motion such as Fig. 7.When 30th hinge is not connected with, driving first axle, the 4th hinge
Chain, the 8th hinge and the tenth hinge can be the pitching motions for realizing robot；Fig. 8-Fig. 9 is this eight sufficient step-by-step machine people
Second structure state of mechanism, now eight open chain pedipulators are main drive source, driving first connecting rod, second connecting rod, third connecting rod,
Fourth link, the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th connecting rod, and two closed chain six-bar mechanism deformations can be realized
Robot mechanism flexibly turns to, and pitching motion.
The present invention's has the prominent advantages that：
1. this eight sufficient step-by-step machine robot mechanism, had both overcome four-footed stepping robot mechanism, because of the deficiency of leg number
And cause reliable operation sex chromosome mosaicism, while overcome the problem of existing eight biped robots mechanism driving is complicated.
2. this eight sufficient step-by-step machine robot mechanism, using closed chain six-bar mechanism, rigidity is big, bearing capacity for main driving
By force.
3. this eight sufficient step-by-step machine robot mechanism, turn to flexibly, pitching motion can be done, while fuselage width can be reduced
To adapt to narrow working environment.
Brief description of the drawings
Fig. 1 is of the present invention eight sufficient the first structure of step-by-step machine robot mechanism state schematic diagrames.
Fig. 2 is the of the present invention eight sufficient schematic diagrames of step-by-step machine robot mechanism the first structure state steering state one.
Fig. 3 is the of the present invention eight sufficient schematic diagrames of step-by-step machine robot mechanism the first structure state steering state two.
Fig. 4 is the of the present invention eight sufficient schematic diagrames of step-by-step machine robot mechanism the first structure state steering state three.
Fig. 5 is that of the present invention eight sufficient the first structure of step-by-step machine robot mechanism states travel forward view.
Fig. 6 is that of the present invention eight sufficient the first structure of step-by-step machine robot mechanism states change fuselage width schematic diagram.
Fig. 7 is of the present invention eight sufficient the first structure of step-by-step machine robot mechanism state pitch attitude schematic diagrames.
Fig. 8 is that of the present invention eight sufficient the second structure of step-by-step machine robot mechanism states turn to schematic diagram.
Fig. 9 is of the present invention eight sufficient the second structure of step-by-step machine robot mechanism state pitch attitude schematic diagrames.
The representative implication of each mark in accompanying drawing：
1：First bar；2：Second bar；3：3rd bar；4：4th bar；5：5th bar；6：6th bar；7：7th bar；8：8th
Bar；9：9th bar；10：Tenth bar；11：11st bar；12：12nd bar；13：First thigh bar；14：First shank bar；15：
Second thigh bar；16：Second shank bar；17：The third-largest leg bar；18：3rd shank bar；19：The fourth-largest leg bar；20：4th is small
Leg bar；21：The fifth-largest leg bar；22：5th shank bar；23：The sixth-largest leg bar；24：6th shank bar；25：The seventh-largest leg bar；
26：7th shank bar；27：The eighth-largest leg bar；28：8th shank bar；29：First axle；30：Second hinge；31：3rd hinge
Chain；32：4th hinge；33：5th hinge；34：6th hinge；35：7th hinge；36：8th hinge；37：9th hinge；
38：Tenth hinge；39：11st hinge；40：Tenth two hinge；41：13rd hinge；42：14th hinge；43：15th
Hinge；44：16th hinge；45：17th hinge；46：18th hinge；47：19th hinge；48：20th hinge；
49：21st hinge；50：20th two hinge；51：23rd hinge；52：24th hinge；53：25th hinge
Chain；54：26th hinge；55：27th hinge；56：28th hinge；57：29th hinge；58：30th
Hinge；59：First connecting rod；60：Second connecting rod；61：Third connecting rod；62：Fourth link；63：5th connecting rod；64：Six-bar linkage；
65：Seven-link assembly；66：8th connecting rod.
Embodiment
Below in conjunction with the accompanying drawings and technical scheme is clearly and completely described embodiment, it is clear that embodiment
Only part of the embodiment of the present invention, rather than whole embodiments.Based on embodiments of the invention, those skilled in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Compares figure 1- Fig. 9, a kind of eight sufficient step-by-step machine robot mechanism of the present invention, concrete structure and annexation
For：
A kind of eight sufficient step-by-step machine robot mechanisms, including two closed chain six-bar mechanisms and eight open chain pedipulators, its feature
It is, described two closed chain six-bar mechanisms include the first closed chain six-bar mechanism and the second closed chain six-bar mechanism；
The first closed chain six-bar mechanism includes the first bar 1, the second bar 2, the 3rd bar 3, the 4th bar 4, the 5th bar 5 and the 6th
Bar 6, the one end of the first bar 1 are connected with the one end of the second bar 2 by first axle 29, and the other end of the second bar 2 passes through with the one end of the 3rd bar 3
Second hinge 30 is connected, and the other end of the 3rd bar 3 is connected with the one end of the 4th bar 4 by third hinge 31, the other end of the 4th bar 4 and
The one end of five bar 5 is connected by the 4th hinge 32, and the other end of the 5th bar 5 is connected with the one end of the 6th bar 6 by the 5th hinge 33, and the 6th
The other end of bar 6 is connected with the other end of the first bar 1 by the 6th hinge 34, first axle 19 and the diameter parallel of the 4th hinge 32, the
Two hinge 30, third hinge 31, the 5th hinge 33 and the diameter parallel of the 6th hinge 34, first axle 29 and the axis of second hinge 30
Vertically；
The second closed chain six-bar mechanism includes the 7th bar 7, the 8th bar 8, the 9th bar 9, the tenth bar 10, the and of the 11st bar 11
12nd bar 12, the one end of the 7th bar 7 are connected with the one end of the 8th bar 8 by the 7th hinge 35, the other end of the 8th bar 8 and the 9th bar 9
One end is connected by the 8th hinge 36, and the other end of the 9th bar 9 is connected with the one end of the tenth bar 10 by the 9th hinge 37, the tenth bar 10
The other end is connected with the one end of the 11st bar 11 by the tenth hinge 38, and the other end of the 11st bar 11 passes through with the one end of the 12nd bar 12
11st hinge 39 is connected, and the other end of the 12nd bar 12 is connected with the other end of the 7th bar 7 by the tenth two hinge 40, the 7th hinge
35 and the diameter parallel of the tenth hinge 38, the 8th hinge 36, the 9th hinge 37, the 11st hinge 39 and the axis of the tenth two hinge 40 put down
OK, the 7th hinge 35 is vertical with the axis of the 8th hinge 36, and with the diameter parallel of first axle 29；
Eight open chain pedipulators include the first open chain pedipulator, the second open chain pedipulator, the 3rd open chain pedipulator, the
Four open chain pedipulators, the 5th open chain pedipulator, the 6th open chain pedipulator, the 7th open chain pedipulator and the 8th open chain pedipulator, the
One open chain pedipulator includes first connecting rod 59, the first thigh bar 13 and the first shank bar 14, and the one end of the first thigh bar 13 passes through
13 hinges 41 are connected with first connecting rod 59, and the other end is connected by the 14th hinge 42 with the first shank bar 14, first connecting rod
59 and first bar 1 it is be hinged, the second open chain pedipulator includes second connecting rod 60, the second thigh bar 15 and the second shank bar 16, second
The one end of thigh bar 15 is connected by the 15th hinge 43 with second connecting rod 16, and the other end passes through the 16th hinge 44 and the second shank
Bar 16 connects, and the bar 2 of second connecting rod 60 and second is be hinged, and the 3rd open chain pedipulator includes third connecting rod 61, the third-largest and of leg bar 17
3rd shank bar 18, the third-largest one end of leg bar 17 are connected by the 17th hinge 45 with third connecting rod 61, and the other end passes through the tenth
Eight hinges 46 are connected with the 3rd shank bar 18, and the bar 4 of third connecting rod 61 and the 4th is be hinged, and the 4th open chain pedipulator includes fourth link
62nd, the fourth-largest shank bar 20 of leg bar 19 and the 4th, the fourth-largest one end of leg bar 19 is connected by the 19th hinge 47 with fourth link 62
Connect, the other end is connected by the 20th hinge 48 with the 4th shank bar 20, and the bar 5 of fourth link 62 and the 5th is be hinged, the 5th open chain
Pedipulator includes the 5th connecting rod 63, the shank bar 22 of the fifth-largest leg bar 21 and the 5th, and the fifth-largest one end of leg bar 21 passes through the 21st
Hinge 49 is connected with the 5th connecting rod 63, and the other end is connected by the 20th two hinge 50 with the 5th shank bar 22, the 5th connecting rod 63
Be hinged with the 7th bar 7, the 6th open chain pedipulator includes six-bar linkage 64, the shank bar 24 of the sixth-largest leg bar 23 and the 6th, the sixth-largest
The one end of leg bar 23 is connected by the 23rd hinge 51 with six-bar linkage 64, and the other end is small by the 24th hinge 52 and the 6th
Leg bar 24 connects, and the bar 8 of six-bar linkage 64 and the 8th is be hinged, and the 7th open chain pedipulator includes seven-link assembly 65, the seventh-largest leg bar 25
With the 7th shank bar 26, the seventh-largest one end of leg bar 25 is connected by the 25th hinge 53 with seven-link assembly 65, and the other end passes through
26th hinge 54 is connected with the 7th shank bar, and the bar 10 of seven-link assembly 65 and the tenth is be hinged, and the 8th open chain pedipulator includes the
Eight connecting rods 66, the shank bar 28 of the eighth-largest leg bar 27 and the 8th, the eighth-largest one end of leg bar 27 passes through the 27th hinge 55 and the 8th
Connecting rod 28 is connected, and the other end is connected by the 28th hinge 56 with the 8th shank bar 28, the 8th connecting rod 66 and the 11st bar 11
It is be hinged.13rd hinge 41, the 14th hinge 42, the 15th hinge 43, the 16th hinge 44, the 17th hinge the 45, the 18th
Hinge 46, the 19th hinge 47, the 20th hinge 48, the 21st hinge 49, the 20th two hinge 50, the 23rd hinge
51st, the 24th hinge 52, the 25th hinge 53, the 26th hinge 54, the 27th hinge 55 and the 28th hinge
56 diameter parallels；
6th bar 6 is connected with the 12nd bar 12 by the 29th hinge 57, and the 3rd bar 3 and the 9th bar 9 pass through the 30th
Hinge 58 connects, the 29th hinge 57 and the diameter parallel of the 30th hinge 58, vertical with the axis of first axle 29；
A kind of eight sufficient step-by-step machine robot mechanisms, the first bar 1, the second bar 2, the 4th bar 4 are identical with the length of the 5th bar 5, the
Three bars 3 are identical with the length of the 6th bar 6；7th bar 7, the 8th bar 8, the tenth bar 10 are identical with the length of the 11st bar 11, the He of the 9th bar 9
The length of 12nd bar 10 is identical.
A kind of eight sufficient step-by-step machine robot mechanisms, the first thigh bar 13, the second thigh bar 15, the third-largest leg bar 17 and the 4th
The length of thigh bar 19 is identical, the first shank bar 14, the second shank bar 16, the 3rd shank bar 18 and the length phase of the 4th shank bar 20
Together, the fifth-largest leg bar 21, the sixth-largest leg bar 23, the seventh-largest leg bar 25 are identical with the eighth-largest length of leg bar 27, the 5th shank bar 22,
6th shank bar 24, the 7th shank bar 26 are identical with the length of the 8th shank bar 28.
Fig. 1-Fig. 7 is the first structure state of this eight sufficient step-by-step machine robot mechanism, and this structure state is the main work of robot mechanism
Make state, the deformation of two closed chain six-bar mechanisms is main drive source, and eight open chain pedipulators are auxiliary driving source, pass through driving
29th hinge 57 and the 30th hinge 58 realize the deformation of closed chain six-bar mechanism, when two closed chain six-bar mechanism deformation directions
When inconsistent, driving robot mechanism advances or changes fuselage width, such as Fig. 5 or Fig. 6；When two six bar parallel institutions deform
Direction is consistent or the one of bar of closed chain six is indeformable, when another closed chain six-bar mechanism deforms, can flexibly realize steering,
As shown in Figure 2, Figure 3 and Figure 4；Robot mechanism realizes pitching motion such as Fig. 7.When 30th hinge 58 is not connected with, first axle is driven
29th, the 4th hinge 32, the 8th hinge 36 and the tenth hinge 38 can be the pitching motions for realizing robot；Fig. 8-Fig. 9 for this eight
Second structure state of sufficient step-by-step machine robot mechanism, now eight open chain pedipulators are main drive source, driving first connecting rod 59, the
Two connecting rods 60, third connecting rod 61, fourth link 62, the 5th connecting rod 63, six-bar linkage 64, seven-link assembly 65, the 8th connecting rod 66, with
And two closed chain six-bar mechanism deformations can realize flexibly turning to for robot mechanism, and pitching motion.
Claims (3)
1. a kind of eight sufficient step-by-step machine robot mechanisms, including two closed chain six-bar mechanisms and eight open chain pedipulators, its feature exist
In described two closed chain six-bar mechanisms include the first closed chain six-bar mechanism and the second closed chain six-bar mechanism；
The first closed chain six-bar mechanism includes the first bar, the second bar, the 3rd bar, the 4th bar, the 5th bar and the 6th bar, the first bar
One end is connected with second bar one end by first axle, and the second bar other end is connected with the 3rd bar one end by second hinge, the
The three bar other ends are connected with the 4th bar one end by third hinge, and the 4th bar other end and the 5th bar one end are connected by the 4th hinge
Connect, the 5th bar other end and the 6th bar one end pass through by the 5th hinge connection, the 6th bar other end and the first bar other end
Six hinge connections, first axle is parallel with the 4th hinge axes, second hinge, third hinge, the 5th hinge and the 6th hinge axis
Line is parallel, and first axle is vertical with second hinge axis；
The second closed chain six-bar mechanism includes the 7th bar, the 8th bar, the 9th bar, the tenth bar, the 11st bar and the 12nd bar, the
Seven bar one end are connected with the 8th bar one end by the 7th hinge connection, the 8th bar other end and the 9th bar one end by the 8th hinge
Connect, the 9th bar other end and the tenth bar one end pass through by the 9th hinge connection, the tenth bar other end and the 11st bar one end
Ten hinge connections, the 11st bar other end and the 12nd bar one end pass through the 11st hinge connection, the 12nd bar other end and
The seven bar other ends are connected by the tenth two hinge, and the 7th hinge and the tenth hinge axes are parallel, the 8th hinge, the 9th hinge,
11 hinges and the tenth two hinge diameter parallel, the 7th hinge is vertical with the 8th hinge axes, and with first axle diameter parallel；
Eight open chain pedipulators are opened including the first open chain pedipulator, the second open chain pedipulator, the 3rd open chain pedipulator, the 4th
Chain pedipulator, the 5th open chain pedipulator, the 6th open chain pedipulator, the 7th open chain pedipulator and the 8th open chain pedipulator, first opens
Chain pedipulator includes first connecting rod, the first thigh bar and the first shank bar, and first thigh bar one end passes through the 13rd hinge and
One connecting rod is connected, and the other end is connected by the 14th hinge with the first shank bar, and the second open chain pedipulator includes second connecting rod, the
Two thigh bars and the second shank bar, first connecting rod are hinged with the first bar, and second thigh bar one end passes through the 15th hinge and second
Connecting rod is connected, and the other end is connected by the 16th hinge with the second shank bar, and second connecting rod is hinged with the second bar, the 3rd open chain machine
Tool leg includes third connecting rod, the third-largest leg bar and the 3rd shank bar, and the third-largest leg bar one end is connected by the 17th hinge and the 3rd
Bar is connected, and the other end is connected by the 18th hinge with the 3rd shank bar, and third connecting rod is hinged with the 4th bar, the 4th open chain machinery
Leg includes fourth link, the fourth-largest leg bar and the 4th shank bar, and the fourth-largest leg bar one end passes through the 19th hinge and fourth link
Connection, the other end are connected by the 20th hinge with the 4th shank bar, and fourth link is hinged with the 5th bar, the 5th open chain pedipulator
Including the 5th connecting rod, the fifth-largest leg bar and the 5th shank bar, the fifth-largest leg bar one end passes through the 21st hinge and the 5th connecting rod
Connection, the other end are connected by the 20th two hinge with the 5th shank bar, and the 5th connecting rod is hinged with the 7th bar, the 6th open chain machinery
Leg includes six-bar linkage, the sixth-largest leg bar and the 6th shank bar, and the sixth-largest leg bar one end is connected by the 23rd hinge and the 6th
Bar is connected, and the other end is connected by the 24th hinge with the 6th shank bar, and six-bar linkage is hinged with the 8th bar, the 7th open chain machine
Tool leg includes seven-link assembly, the seventh-largest leg bar and the 7th shank bar, and the seventh-largest leg bar one end passes through the 25th hinge and the 7th
Connecting rod is connected, and the other end is connected by the 26th hinge with the 7th shank bar, and seven-link assembly is hinged with the tenth bar, the 8th open chain
Pedipulator includes the 8th connecting rod, the eighth-largest leg bar and the 8th shank bar, and the eighth-largest leg bar one end passes through the 27th hinge and
Eight connecting rods are connected, and the other end is connected by the 28th hinge with the 8th shank bar, and the 8th connecting rod is hinged with the 11st bar.Tenth
Three hinges, the 14th hinge, the 15th hinge, the 16th hinge, the 17th hinge, the 18th hinge, the 19th hinge, second
Ten hinges, the 21st hinge, the 20th two hinge, the 23rd, the 24th hinge, the 25th hinge, the 26th
Hinge, the 27th hinge and the 28th hinge axes are parallel；
6th bar and the 12nd bar by the 29th hinge connection, the 3rd bar and the 9th bar by the 30th hinge connection,
29 hinges and the 30th hinge axes are parallel, vertical with first axle axis.
2. a kind of eight sufficient step-by-step machine robot mechanism according to claim 1, the first bar, the second bar, the 4th bar and the 5th
Pole length is identical, and the 3rd bar and the 6th pole length are identical；7th bar, the 8th bar, the tenth bar and the 11st pole length are identical, and the 9th
Bar and the 12nd pole length are identical.
3. a kind of eight sufficient step-by-step machine robot mechanism according to claim 1, the first thigh bar, the second thigh bar, the 3rd
Thigh bar is identical with the fourth-largest leg pole length, the first shank bar, the second shank bar, the 3rd shank bar and the 4th shank pole length phase
Together, the fifth-largest leg bar, the sixth-largest leg bar, the seventh-largest leg bar are identical with the eighth-largest leg pole length, the 5th shank bar, the 6th shank
Bar, the 7th shank bar and the 8th shank pole length are identical.
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| CN111496819A (en) * | 2020-06-16 | 2020-08-07 | 山东大学 | Scalable robot trunk and bionic quadruped robot |
| CN116719335A (en) * | 2023-06-07 | 2023-09-08 | 哈尔滨理工大学 | Six-foot robot fault-tolerant gait planning method considering random leg faults |
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