CN109823437A - Series-parallel robot leg mechanism and walking robot based on UPR-R structure - Google Patents
Series-parallel robot leg mechanism and walking robot based on UPR-R structure Download PDFInfo
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- CN109823437A CN109823437A CN201910053263.1A CN201910053263A CN109823437A CN 109823437 A CN109823437 A CN 109823437A CN 201910053263 A CN201910053263 A CN 201910053263A CN 109823437 A CN109823437 A CN 109823437A
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Abstract
The present invention relates to walking robot fields, it is therefore an objective to a kind of series-parallel robot leg mechanism and walking robot based on UPR-R structure be provided, structure simplifies, and flexibility is good, and movement range is big, smooth running and speed is fast, can effective protection setting precision instrument.Above-mentioned leg mechanism includes silent flatform (1) and the big leg assembly connecting with the silent flatform (1), the shank component being connect with the big leg assembly by moving platform (2), the big leg assembly includes the branch of at least three UPR structures, and shank (27) is rotatably connected by the moving platform (2) and the big leg assembly；When original state, between the silent flatform (1) and the big leg assembly, setting at an acute angle between the big leg assembly and the shank component.The present invention solves the problem of existing series-parallel robot leg mechanism structural elements is various, and the flexibility of leg mechanism is poor, and the speed of travel is slow, easily causes mechanism vibration.
Description
Technical field
The present invention relates to walking robot technical fields, more particularly to a kind of series-parallel robot based on UPR-R structure
Leg mechanism and walking robot.
Background technique
In recent years, underwater security inspection, fishery cultivating, shipping cleaning, ocean engineering, science and education etc. are to underwater robot
Demand be continuously increased, under technological innovation and the dual promotion of the market demand, underwater robot industry development is rapid.Currently,
Underwater robot is divided mainly by walking manner wheeled robot, caterpillar type robot, legged type robot and hybrid machine
Four kinds of people.Compared with the robot of other walking manners, requirement of the legged type robot to working environment is lower, adaptable, tool
There is biggish use value.Legged type robot can be divided into biped robot, quadruped robot, hexapod robot and polypody machine
People, wherein the stationarity of quadruped robot is better than biped robot, in turn avoid six foot, structure is complicated for multi-foot robot, control
The problems such as system is complicated.Currently, the leg structure of legged type robot mostly uses serial-parallel mirror structure, this leg structure has had both string
The advantages of being coupled structure and parallel-connection structure, not only speed is very high, and rigidity is larger, and positioning accuracy is higher, and working range is wide, work
Space is big, and working distal tip is flexible, easy to control.
Existing serial-parallel mirror leg mechanism of robot, as disclosed a type in Chinese patent literature CN204296909U
Humanoid robot's series parallel type pedipulator, hip joint platform, knee joint plateau, ankle-joint including the setting of sequential parallel from top to bottom
Platform and support leg, and connection hip joint platform and the thigh of knee joint plateau drive branch, connect knee joint plateau and ankle
The shank of joint platform drives branch, and the ankle for connecting ankle-joint platform and support leg drives branch, it is each drive branch respectively by
Universal joint is connect with joint platform；The pedipulator is additionally provided with support branch, and support branch is axially set to the center of joint platform,
Branch is supported including thigh support branch, leg support branch and ankle；The thigh support branch and hip joint platform are by ten thousand
It connects, is consolidated with knee joint plateau, the leg support branch is connect with knee joint plateau by cross coupler, with ankle to knot
Joint platform consolidation；The ankle support branch is connect with ankle-joint platform by universal joint, is consolidated with support leg.Above-mentioned mixed connection machine
Device people's leg mechanism have the disadvantage that 1. its leg portion, lower leg portion and ankle part be all using multiple branches and
It is coupled structure, then three parallel-connection structures are sequentially connected in series together again, it is seen that the structure of this serial-parallel mirror leg structure is very multiple
It is miscellaneous, keep the quality of overall mechanism very heavy, influences the flexibility of leg mechanism, and since lower leg portion and ankle part are also all
Parallel-connection structure, there are many structural elements number, and when walking can generate inevitably mutually constraint, in addition, thigh support branch
It is consolidated with knee joint plateau, leg support branch and ankle-joint platform consolidate, these factors can all lead to the flexible of leg mechanism
Property is poor, and walking motion amplitude is smaller, and the speed of travel is slow, low so as to cause machine task efficiency；2. when original state,
Hip joint platform, knee joint plateau and ankle-joint platform are arranged in parallel, and leg portion and lower leg portion are almost in one straight
Line, when starting walking, especially in the case where terrain environment is rugged and rough, hip joint platform and knee joint plateau will receive compared with
Big stress, and then cause integrally-built vibration, and usually there is provision of many precision instruments on hip joint platform, it is this
Vibration will affect the measurement accuracy of instrument, be unfavorable for the normal operation of robot.
Summary of the invention
For this purpose, technical problem to be solved by the present invention lies in the series-parallel robot leg mechanism of the prior art, structure structure
Part is various, causes the flexibility of leg mechanism poor, and the speed of travel is slow, and easily causes mechanism vibration, influences robot
Normal operation, and provide a kind of structure and simplify, flexibility is good, and movement range is big, smooth running and speed is fast, and can effectively protect
Protect setting precision instrument, it is ensured that robot work normally based on the series-parallel robot leg mechanism of UPR-R structure and walking
Robot.
In order to solve the above technical problems, The technical solution adopted by the invention is as follows:
A kind of series-parallel robot leg mechanism based on UPR-R structure, including silent flatform and connect with the silent flatform
Big leg assembly, the shank component that is connect with the big leg assembly by moving platform, the big leg assembly includes at least three UPR
The branch of structure is provided at least three drivers for respectively driving branch described in each item, the shank group on the silent flatform
Part includes shank, and the shank is rotatably connected by the moving platform and the big leg assembly；It is described quiet flat when original state
Between platform and the big leg assembly, setting at an acute angle between the big leg assembly and the shank component.
Preferably, the big leg assembly includes the first branch, the second branch and third branch, first branch, described
Second branch passes through the first U pair link block, the 2nd U pair link block and the 3rd U pair with the upper end of the third branch respectively and connects
Block is connect with the silent flatform, and the lower end of first branch, second branch and the third branch passes through first respectively
Revolute pair link block, the second revolute pair link block and third revolute pair link block are connect with the moving platform, first branch,
Extending/the first spiral prismatic pair of contraction, the second spiral is respectively arranged with inside second branch and the third branch
Prismatic pair and third spiral prismatic pair.
Preferably, the first U pair link block, the 2nd U pair link block and the 3rd U pair link block are described quiet
Tie point on platform is arranged by equilateral triangle；The first revolute pair link block, the second revolute pair link block and institute
Tie point of the third revolute pair link block on the moving platform is stated also to arrange by equilateral triangle.
Preferably, the first revolute pair link block, the second revolute pair link block are connected with the third revolute pair
The angle of the rotation connection axially bored line of block is 60 °.
Preferably, the shank component further includes connector, the connector have the first tie point, the second tie point and
Third tie point, the shank connect point articulated with described the first of the connector；
The big leg assembly further includes the first guiding branch and the second guiding branch, the first guiding branch and described the
The upper end of two guiding branches passes through the 4th U pair link block respectively, the 5th U pair link block is connect with the silent flatform, and described first
The lower end of guiding branch is connect by the 4th revolute pair link block with the moving platform, and the tie point is located at by described first turn
The tie point of dynamic pair link block, the second revolute pair link block and the third revolute pair link block and the moving platform is formed
Equilateral triangle center；First company of the lower end of the second guiding branch and the shank and the connector
Contact is hinged, and the lower part of the moving platform and second tie point of the shank and the connector are hinged on
Together.
Preferably, the silent flatform is horizontally disposed, is provided with and respectively drives first branch, second branch
With first motor, the second motor and the third motor of the third branch, it is provided with the 4th motor on the moving platform, described
The output shaft of four motors is fixedly connected with the third tie point of the connector.
Preferably, the moving platform has gap, the second guiding branch beside the position that each branch is arranged
The lower end of chain passes through the gap of the moving platform, connect with described the first of the shank and the connector point articulated
Together；In the end of the gap of the moving platform, the 4th motor is set.
Preferably, the sufficient end of the shank is chondritic.
A kind of walking robot, including fuselage, there are four the above-mentioned mixed connection machines based on UPR-R structure for the fuselage installation
Device people's leg mechanism, four series-parallel robot leg mechanisms front and rear, left and rights are symmetrical arranged, and form four feet walking robot.
Preferably, for the fuselage tool there are four the cavity of inner hollow, the lower part of the cavity and silent flatform pass through screw thread
It is tightly connected.
The above technical solution of the present invention has the following advantages over the prior art:
(1) the series-parallel robot leg mechanism provided by the invention based on UPR-R structure, wherein shank is a structure letter
Single independent component, shank are rotatably connected by moving platform and big leg assembly, by the rational design to whole leg mechanism,
The structure of shank and ankle portion is enormously simplified, mitigates the quality of leg mechanism significantly, but also flexibility substantially mentions
Height, movement range is big in the process of walking, smooth running and speed is fast, improves robot working efficiency；In addition, original state is quiet
Between platform and big leg assembly, setting at an acute angle between big leg assembly and shank component, it is this be similar to "the" shape structure
When robot starts walking, it can effectively slow down impact caused by robot leg and ground face contact, even at landform
It in rugged adverse circumstances, also can sufficiently alleviate impact force at contact, reduce the stress that silent flatform and moving platform are subject to, mitigate
The vibration of overall mechanism enables robot to be very smoothly transitioned into walking states, Neng Gouyou from stationary state (original state)
The various instruments being arranged in effect protection robot, it is this steady especially when robot loads expensive precision instrument
Transient process is particularly important.
(2) the series-parallel robot leg mechanism provided by the invention based on UPR-R structure, wherein big leg assembly includes at least
The branch of three UPR structures forms parallel-connection structure, and big leg assembly and shank component pass through R structures in series, to constitute string
And the leg mechanism of mixed connection, and shank is controlled by individual motor, the lift leg movement of shank is realized, so that lower leg portion
Can independent neatly obstacle, improve lift leg height, the mode that motion range individually controls greatly also improves the flexibility ratio of control.
(3) the series-parallel robot leg mechanism provided by the invention based on UPR-R structure, wherein the first U pair link block,
The tie point of two U pair link blocks and the 3rd U pair link block on silent flatform is arranged that the first revolute pair is connected by equilateral triangle
The tie point of block, the second revolute pair link block and third revolute pair link block on moving platform also presses equilateral triangle arrangement, special
It is not the angle of the rotation connection axially bored line of the first revolute pair link block, the second revolute pair link block and third revolute pair link block
It is 60 °, this uniform arrangement mode can guarantee that mechanism does not interfere mutually between each component during the motion, really
Protect the normal work of whole leg mechanism.
(4) the series-parallel robot leg mechanism and walking robot provided by the invention based on UPR-R structure, sufficient end energy
It enough realizes the movement of four freedom degrees, i.e., turns around the rotational freedom of X-direction, around the rotational freedom of Y-direction, around Z-direction
The one-movement-freedom-degree of dynamic freedom degree and Y-direction, action nimbly and freely, can adapt to Various Complex terrain environment, applied widely.
Detailed description of the invention
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail, wherein
Fig. 1 is the schematic diagram one of series-parallel robot leg mechanism of the present invention；
Fig. 2 is the schematic diagram two of series-parallel robot leg mechanism of the present invention；
Fig. 3 is the schematic diagram three of series-parallel robot leg mechanism of the present invention；
Fig. 4 is the schematic diagram of series-parallel robot Leg portion structure of the present invention；
Fig. 5 is each revolute pair link block axis schematic diagram of moving platform in series-parallel robot leg mechanism of the present invention；
Fig. 6 is the overall schematic of walking robot of the present invention；
Fig. 7 is the side view of walking robot of the present invention.
Appended drawing reference indicates in figure are as follows: 1- silent flatform, 2- moving platform, the first branch of 3-, the second branch of 4-, 5- third branch
Chain, the first U pair link block of 6-, the 2nd U pair link block of 7-, the 3rd U pair link block of 8-, 9- the first revolute pair link block, 10- second
Revolute pair link block, 11- third revolute pair link block, 12- the first spiral prismatic pair, 13- the second spiral prismatic pair, 14- third
Spiral prismatic pair, the guiding branch of 15- first, the guiding branch of 16- second, the 4th U pair link block of 17-, the 5th U pair link block of 18-,
The 4th revolute pair link block of 19-, 20- first motor, the second motor of 21-, 22- third motor, the 4th motor of 23-, 24- connection
Part, 25- fuselage, 26- cavity, 27- shank, 28- sonar sensor, the first tie point of A-, the second tie point of B-, the connection of C- third
Point.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1-3, be the preferred embodiment of the series-parallel robot leg mechanism the present invention is based on UPR-R structure, packet
It includes silent flatform 1 and the big leg assembly connecting with the silent flatform 1, pass through the shank that moving platform 2 is connect with the big leg assembly
Component, when original state, between the silent flatform 1 and the big leg assembly, between the big leg assembly and the shank component
Setting at an acute angle.This "the" shape that is similar to enables overall structure effectively to buffer leg mechanism and ground when starting walking
The vibration that face contact generates.
The big leg assembly includes the branch of at least three UPR structures, forms parallel-connection structure, is arranged on the silent flatform 1
There are at least three drivers for respectively driving branch described in each item.In the present embodiment, the silent flatform 1 is horizontally disposed, described
Big leg assembly includes the branch of three UPR structures, and three drives for respectively driving branch described in each item are provided on the silent flatform 1
Dynamic device.Each driver controls the elongation and shrinkage of each branch respectively, will not interfere between each driver.
Specifically, the big leg assembly includes the first branch 3, the second branch 4 and third branch 5.First branch 3,
The upper end of second branch 4 and the third branch 5 passes through the first U pair link block 6, the 2nd U pair link block 7 and third respectively
U pair link block 8 is connect with the silent flatform 1, and the first branch 3, the second branch 4, third branch 5 can be relative to described quiet flat
1 universal rotational of platform increases movement range and the flexibility of leg portion.First branch 3, second branch 4 and institute
The lower end for stating third branch 5 passes through the first revolute pair link block 9 respectively, the second revolute pair link block 10 is connected with third revolute pair
Block 11 is connect with the moving platform 2.It is respectively set inside first branch 3, second branch 4 and the third branch 5
There are the first spiral prismatic pair 12, the second spiral prismatic pair 13 and the third spiral prismatic pair 14 of extending/contraction.Described quiet flat
It is provided on platform 1 and respectively drives first branch 3, the first motor 20 of second branch 4 and the third branch 5,
Two motors 21 and third motor 22, specifically, the first motor 20, second motor 21 and the third motor 22 divide
The stretch/shrink movement of the first spiral prismatic pair 12, the second spiral prismatic pair 13 and third spiral prismatic pair 14 is not controlled.
As shown in figure 4, in order to further ensure that parallel institution is non-interference, the first U pair link block 6, the 2nd U
The tie point of secondary link block 7 and the 3rd U pair link block 8 on the silent flatform 1 is arranged by equilateral triangle；Described first
Revolute pair link block 9, the second revolute pair link block 10 and the third revolute pair link block 11 are on the moving platform 2
Tie point also presses equilateral triangle arrangement, and the first revolute pair link block 9, the second revolute pair link block 10 and institute
The angle for stating the rotation connection axially bored line of third revolute pair link block 11 is 60 °, as shown in figure 5, dotted line indicates each in figure
The rotation connection axially bored line of revolute pair link block.It is arranged using the equilateral triangle structure of aforementioned stable, on the one hand facilitates mechanism
Arrangement setting, on the other hand also ensure that parallel institution is non-interference, leg mechanism made steadily to walk glibly.
The shank component includes connector 24 and shank 27, and the connector 24 has the first tie point A, the second connection
The first tie point A of point B and third tie point C, the shank 27 and the connector 24 are hinged.The foot of the shank 27
End uses chondritic, keeps landing position more accurate, buffers small, raising machine task efficiency.
In order to enhance big leg assembly to the guiding and support of silent flatform, making leg mechanism, silent flatform is more steady when walking
Fixed, the big leg assembly further includes the first guiding branch 15 and the second guiding branch 16, the first guiding branch 15 and described
The upper end of second guiding branch 16 passes through the 4th U pair link block 17 respectively, the 5th U pair link block 18 is connect with the silent flatform 1,
The lower end of the first guiding branch 15 is connect by the 4th revolute pair link block 19 with the moving platform 2, and the connection point
In by the first revolute pair link block 9, the second revolute pair link block 10 and the third revolute pair link block 11 and institute
State the center of the equilateral triangle of the tie point formation of moving platform 2.The lower end of the second guiding branch 16 and the shank 27
And the first tie point A of the connector 24 is hinged, the lower part of the moving platform 2 and the shank 27 and
The second tie point B of the connector 24 is hinged, that is to say, that the big leg assembly and the shank component are logical
Cross the hinged composition revolute pair R structure in the second tie point B.As shown, above-mentioned each institute is being arranged in the moving platform 2
Stating has gap beside the position of branch (parallel-connection structure), the lower end of the second guiding branch 16 passes through the moving platform 2
The gap, so it is hinged with the first tie point A of the shank 27 and the connector 24.Described dynamic
The end of the gap of platform 2 is provided with the 4th motor 23, output shaft and the connector 24 of the 4th motor 23
The third tie point C is fixedly connected.
Series-parallel robot leg mechanism provided by the invention based on UPR-R structure, there are four freedom degrees for sufficient end tool
Movement, the i.e. shifting around the rotational freedom of X-direction, the rotational freedom around Y-direction, the rotational freedom around Z-direction and Y-direction
Dynamic freedom degree reaches the coordinated movement of various economic factors by carrying out control to each rotary driver, realizes the space three-dimensional output at sufficient end.Its
In, by the first motor 20, second motor 21, the third motor 22 to first branch 3, second described
The control of chain 4 and 5 stretch/shrink of third branch realizes rotational freedom of the sufficient end around X-direction, the rotation around Y-direction certainly
By degree, around the rotational freedom of Z-direction and the one-movement-freedom-degree of Y-direction, the shank 27 is controlled by the 4th motor 23
Rotated around the second tie point B (revolute pair R) relative to the big leg assembly, be also able to achieve sufficient end around Z-direction rotation from
By spending.Using the control respectively of four rotational drive motors, so that leg structure design fully achieves flexible motion, and mutually
It does not interfere, control is simply, it can be achieved that the advance of robot, turning, the functions such as avoidance.In addition, the present invention is based on UPR-R knots
The series-parallel robot leg mechanism stable structure of structure is secured, has certain bearing capacity, can carry out heavily loaded operation.
As shown in Figure 6,7, the present invention also provides a kind of walking robot, including fuselage 25, the fuselage 25 is equipped with four
A above-mentioned series-parallel robot leg mechanism based on UPR-R structure, four series-parallel robot leg mechanisms front and rear, left and rights are right
Claim setting, forms four feet walking robot.
For the tool of fuselage 25 there are four the cavity 26 of inner hollow, the cavity 26 is cylindrical structure, drives each
The driver of chain is set in the cavity 26, and the lower part of the cavity 26 is connect with the silent flatform 1 by thread seal.Institute
The effect that fuselage 25 has both carrying platform is stated, provides external extension function for robot, it can be by controller, power supply, motor, detection
Instrument etc. is arranged in the cavity 26, and the cavity 26 has excellent water-proof function, is suitable for underwater operation, can be in effective protection
Part device.And the also mountable various surveying devices in the front end of the fuselage 25, such as sonar sensor 28, make the function of robot
It is more rich and varied.
Walking robot provided by the invention enables robot leg to complete to lift, falls, left by controlling four motors
Partially, right avertence, advance, retrogressing movement, robot complete to advance, retreat, the elemental motions such as turning while, moreover it is possible to it is effective
Avoiding obstacles improve the mobility of robot.Walking robot provided by the invention is adapted to underwater work with a varied topography
Industry such as is walked, detects, repairing, speedily carrying out rescue work at the application fields, and has certain leg bearing capacity, can carry out heavily loaded operation.
In other embodiments, if the stability requirement to silent flatform is less high, two guiding branch can be not provided with
Chain, i.e., the first guiding branch 15 and the second guiding branch 16, equally can be realized the purpose of the present invention.
In other embodiments, the branch of four, five even more UPR structures can be set in big leg assembly, opposite,
Setting respectively drives four, five even more drivers of branch described in each item on silent flatform 1.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. a kind of series-parallel robot leg mechanism based on UPR-R structure, including silent flatform (1) and with the silent flatform (1)
The big leg assembly of connection passes through the shank component that moving platform (2) are connect with the big leg assembly, it is characterised in that: the thigh
Component includes the branch of at least three UPR structures, is provided on the silent flatform (1) and respectively drives branch described in each item at least
Three drivers, the shank component include shank (27), and the shank (27) passes through the moving platform (2) and the thigh group
Part is rotatably connected；When original state, between the silent flatform (1) and the big leg assembly, the big leg assembly with it is described small
Setting at an acute angle between leg assembly.
2. the series-parallel robot leg mechanism according to claim 1 based on UPR-R structure, it is characterised in that: described big
Leg assembly includes the first branch (3), the second branch (4) and third branch (5), first branch (3), second branch
(4) and the upper end of the third branch (5) passes through the first U pair link block (6), the 2nd U pair link block (7) and the 3rd U pair respectively
Link block (8) is connect with the silent flatform (1), first branch (3), second branch (4) and the third branch (5)
Lower end pass through the first revolute pair link block (9), the second revolute pair link block (10) and third revolute pair link block (11) respectively
It is connect with the moving platform (2), inside first branch (3), second branch (4) and the third branch (5) respectively
It is provided with the first spiral prismatic pair (12), the second spiral prismatic pair (13) and the third spiral prismatic pair (14) of extending/contraction.
3. the series-parallel robot leg mechanism according to claim 2 based on UPR-R structure, it is characterised in that: described
One U pair link block (6), the 2nd U pair link block (7) and the 3rd U pair link block (8) are on the silent flatform (1)
Tie point is arranged by equilateral triangle；The first revolute pair link block (9), the second revolute pair link block (10) and described
Tie point of the third revolute pair link block (11) on the moving platform (2) also presses equilateral triangle arrangement.
4. the series-parallel robot leg mechanism according to claim 3 based on UPR-R structure, it is characterised in that: described
The rotation of one revolute pair link block (9), the second revolute pair link block (10) and the third revolute pair link block (11) connects
The angle for connecing axially bored line is 60 °.
5. the series-parallel robot leg mechanism according to claim 4 based on UPR-R structure, it is characterised in that:
The shank component further includes connector (24), and the connector (24) has the first tie point (A), the second tie point
(B) and third tie point (C), the shank (27) and first tie point (A) of the connector (24) are hinged；
The big leg assembly further includes the first guiding branch (15) and the second guiding branch (16), first guiding branch (15)
With it is described second guiding branch (16) upper end pass through respectively the 4th U pair link block (17), the 5th U pair link block (18) with it is described
The lower end of silent flatform (1) connection, first guiding branch (15) passes through the 4th revolute pair link block (19) and the moving platform
(2) it connects, and the tie point is located at by the first revolute pair link block (9), the second revolute pair link block (10) and institute
State the center of the equilateral triangle of the tie point formation of third revolute pair link block (11) and the moving platform (2)；Described second
First tie point (A) of the lower end and the shank (27) and the connector (24) that are oriented to branch (16) is hinged on one
It rises, the lower part and the shank (27) of the moving platform (2) and second tie point (B) of the connector (24) are hinged
Together.
6. the series-parallel robot leg mechanism according to claim 5 based on UPR-R structure, it is characterised in that: described quiet
Platform (1) is horizontally disposed, is provided with and respectively drives first branch (3), second branch (4) and the third branch
First motor (20), the second motor (21) and the third motor (22) of chain (5) are provided with the 4th motor on the moving platform (2)
(23), the third tie point (C) of the output shaft with the connector (24) of the 4th motor (23) is fixedly connected.
7. the series-parallel robot leg mechanism according to claim 6 based on UPR-R structure, it is characterised in that: described dynamic
Platform (2) has gap beside the position that each branch is arranged, and the lower end of second guiding branch (16) passes through institute
The gap for stating moving platform (2), it is hinged with first tie point (A) of the shank (27) and the connector (24)
Together；In the end of the gap of the moving platform (2), the 4th motor (23) is set.
8. the series-parallel robot leg mechanism according to claim 6 based on UPR-R structure, it is characterised in that: described small
The sufficient end of leg (27) is chondritic.
9. a kind of walking robot, including fuselage (25), it is characterised in that: there are four claim 1- for fuselage (25) installation
8 any series-parallel robot leg mechanisms based on UPR-R structure, four series-parallel robot leg mechanisms front and backs,
It is symmetrical set, forms four feet walking robot.
10. walking robot according to claim 9, it is characterised in that: there are four inner hollows for fuselage (25) tool
Cavity (26), the lower part of the cavity (26) is connect with silent flatform (1) by thread seal.
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| CN201910053263.1A CN109823437B (en) | 2019-01-21 | 2019-01-21 | Hybrid robot leg mechanism based on UPR-R structure and walking robot |
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Cited By (4)
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| CN112093017A (en) * | 2020-09-14 | 2020-12-18 | 山东大学 | Bionic mechanical fish based on integral stretching principle |
| CN112278109A (en) * | 2020-10-30 | 2021-01-29 | 山东大学 | Leg structure of bionic underwater foot type robot and bionic underwater foot type robot |
| CN112937720A (en) * | 2021-02-05 | 2021-06-11 | 重庆工程职业技术学院 | Walking robot |
| CN114506400A (en) * | 2022-03-17 | 2022-05-17 | 中国人民解放军国防科技大学 | Bionic foot type robot based on centralized driving four-degree-of-freedom leg structure |
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| CN107554640A (en) * | 2017-09-08 | 2018-01-09 | 燕山大学 | A kind of six sufficient walkers based on four-degree-of-freedom mechanism leg |
| CN107672690A (en) * | 2016-04-05 | 2018-02-09 | 赵德朝 | A kind of Hexapod Robot and foot control method and gait control method |
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| US5807011A (en) * | 1996-10-07 | 1998-09-15 | Korea Institute Of Science And Technology | Foot system for jointed leg type walking robot |
| CN204399319U (en) * | 2015-01-14 | 2015-06-17 | 中国计量学院 | The bionical quadruped robot that a kind of pneumatic muscles drives |
| CN107672690A (en) * | 2016-04-05 | 2018-02-09 | 赵德朝 | A kind of Hexapod Robot and foot control method and gait control method |
| CN206107391U (en) * | 2016-10-25 | 2017-04-19 | 南京农业大学 | Four -footed robot of three degrees of freedom of electric drive single leg |
| CN106741287A (en) * | 2017-01-17 | 2017-05-31 | 北京交通大学 | A kind of bipod walking robot mechanism with leg structure in parallel |
| CN107554640A (en) * | 2017-09-08 | 2018-01-09 | 燕山大学 | A kind of six sufficient walkers based on four-degree-of-freedom mechanism leg |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112093017A (en) * | 2020-09-14 | 2020-12-18 | 山东大学 | Bionic mechanical fish based on integral stretching principle |
| CN112278109A (en) * | 2020-10-30 | 2021-01-29 | 山东大学 | Leg structure of bionic underwater foot type robot and bionic underwater foot type robot |
| CN112937720A (en) * | 2021-02-05 | 2021-06-11 | 重庆工程职业技术学院 | Walking robot |
| CN112937720B (en) * | 2021-02-05 | 2021-09-28 | 重庆工程职业技术学院 | Walking robot |
| CN114506400A (en) * | 2022-03-17 | 2022-05-17 | 中国人民解放军国防科技大学 | Bionic foot type robot based on centralized driving four-degree-of-freedom leg structure |
| CN114506400B (en) * | 2022-03-17 | 2022-11-29 | 中国人民解放军国防科技大学 | Bionic foot type robot based on centralized driving four-degree-of-freedom leg structure |
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