CN109823437B - Hybrid robot leg mechanism based on UPR-R structure and walking robot - Google Patents
Hybrid robot leg mechanism based on UPR-R structure and walking robot Download PDFInfo
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- CN109823437B CN109823437B CN201910053263.1A CN201910053263A CN109823437B CN 109823437 B CN109823437 B CN 109823437B CN 201910053263 A CN201910053263 A CN 201910053263A CN 109823437 B CN109823437 B CN 109823437B
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Abstract
The invention relates to the field of walking robots, and aims to provide a hybrid robot leg mechanism based on a UPR-R structure and a walking robot, which have the advantages of simplified structure, good flexibility, large action amplitude, stable walking and high speed, and can effectively protect a set precise instrument. The leg mechanism comprises a static platform (1), a thigh component connected with the static platform (1) and a shank component connected with the thigh component through a movable platform (2), wherein the thigh component comprises at least three branched chains with UPR structures, and a shank (27) is rotatably connected with the thigh component through the movable platform (2); in an initial state, the static platform (1) and the thigh component and the shank component are arranged in acute angles. The invention solves the problems that the leg mechanism of the existing hybrid robot has various structural components, the leg mechanism has poor flexibility and low walking speed, and the mechanism is easy to vibrate.
Description
Technical Field
The invention relates to the technical field of walking robots, in particular to a hybrid robot leg mechanism based on a UPR-R structure and a walking robot.
Background
In recent years, demands for underwater robots in the aspects of underwater safety inspection, fishery breeding, ship cleaning, ocean engineering, science and education and the like are increasing, and the underwater robot industry is rapidly developed under the double promotion of technical innovation and market demands. At present, underwater robots are mainly divided into four types, namely wheeled robots, tracked robots, foot robots and hybrid robots, according to walking modes. Compared with robots with other walking modes, the foot type robot has the advantages of low requirement on working environment, strong adaptability and high use value. The foot robot can be divided into a biped robot, a quadruped robot, a hexapod robot and a multi-pod robot, wherein the stability of the quadruped robot is stronger than that of the biped robot, and the problems of complex structure, complex control and the like of the hexapod and multi-pod robot are avoided. At present, the leg structure of the foot robot adopts a series-parallel structure, has the advantages of a series structure and a parallel structure, and has the advantages of high speed, high rigidity, high positioning precision, wide working range, large working space, flexible working end and easy control.
The leg mechanism of the existing series-parallel hybrid robot comprises a hip joint platform, a knee joint platform, an ankle joint platform, a supporting leg and a thigh driving branched chain, wherein the hip joint platform, the knee joint platform, the ankle joint platform and the supporting leg are sequentially arranged in parallel, the thigh driving branched chain is connected with the hip joint platform and the knee joint platform, the calf driving branched chain is connected with the knee joint platform and the supporting leg, the ankle driving branched chain is connected with the ankle joint platform through a universal joint, the mechanical leg is further provided with a supporting branched chain, the supporting branched chain is axially arranged in the center of the knee joint platform and comprises a thigh supporting branched chain, a calf supporting branched chain and an ankle supporting branched chain, the thigh supporting branched chain is connected with the hip joint platform through a universal joint and is fixedly connected with the knee joint platform through a cross-shaped coupler, the ankle supporting branched chain is connected with the ankle joint platform and is fixedly connected with the supporting leg, the ankle supporting branched chain is fixedly connected with the ankle joint platform through the universal joint, the ankle joint platform is fixedly connected with the supporting leg, the ankle joint platform is fixedly connected with the ankle joint platform, the ankle joint platform is fixedly connected with the supporting leg mechanism, the knee joint platform, the ankle joint platform is connected with the ankle joint platform, the ankle joint platform is capable of the leg mechanism, the ankle joint platform is capable of measuring mechanism, the leg mechanism is capable of measuring the leg mechanism, the leg mechanism is capable of measuring mechanism.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is that the leg mechanism of the hybrid robot in the prior art has various structural components, so that the leg mechanism has poor flexibility and low walking speed, and the normal operation of the robot is influenced due to the vibration of the mechanism, thereby providing the leg mechanism of the hybrid robot and the walking robot based on the UPR-R structure, which have the advantages of simple structure, good flexibility, large action amplitude, stable walking and high speed, can effectively protect the arranged precise instrument, and ensure the normal operation of the robot.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a parallel-serial robot leg mechanism based on a UPR-R structure comprises a static platform, a thigh component connected with the static platform and a shank component connected with the thigh component through a movable platform, wherein the thigh component comprises at least three branched chains with the UPR structure, at least three drivers for respectively driving the branched chains are arranged on the static platform, the shank component comprises a shank, and the shank is rotatably connected with the thigh component through the movable platform; in an initial state, the static platform and the thigh assembly and the shank assembly are arranged in acute angles.
Preferably, the thigh assembly comprises a first branch chain, a second branch chain and a third branch chain, the upper ends of the first branch chain, the second branch chain and the third branch chain are respectively connected with the static platform through a first U-pair connecting block, a second U-pair connecting block and a third U-pair connecting block, the lower ends of the first branch chain, the second branch chain and the third branch chain are respectively connected with the dynamic platform through a first revolute pair connecting block, a second revolute pair connecting block and a third revolute pair connecting block, and a first helical moving pair, a second helical moving pair and a third helical moving pair which can extend/contract are respectively arranged in the first branch chain, the second branch chain and the third branch chain.
Preferably, the connection points of the first U auxiliary connection block, the second U auxiliary connection block and the third U auxiliary connection block on the static platform are arranged in an equilateral triangle; and the connecting points of the first revolute pair connecting block, the second revolute pair connecting block and the third revolute pair connecting block on the movable platform are also arranged according to an equilateral triangle.
Preferably, the included angles of the axes of the rotary connecting holes of the first rotary pair connecting block, the second rotary pair connecting block and the third rotary pair connecting block are all 60 °.
Preferably, the lower leg assembly further comprises a connector having a first connection point, a second connection point and a third connection point, the lower leg being hingedly connected to the first connection point of the connector;
the thigh component further comprises a first guide branch chain and a second guide branch chain, the upper ends of the first guide branch chain and the second guide branch chain are respectively connected with the static platform through a fourth U auxiliary connecting block and a fifth U auxiliary connecting block, the lower end of the first guide branch chain is connected with the movable platform through a fourth revolute pair connecting block, and the connecting point is located in the center of an equilateral triangle formed by the connecting points of the first revolute pair connecting block, the second revolute pair connecting block and the third revolute pair connecting block and the movable platform; the lower end of the second guide branched chain is hinged with the shank and the first connecting point of the connecting piece, and the lower part of the movable platform is hinged with the shank and the second connecting point of the connecting piece.
Preferably, the static platform is horizontally arranged, a first motor, a second motor and a third motor are arranged on the static platform and respectively drive the first branched chain, the second branched chain and the third branched chain, a fourth motor is arranged on the movable platform, and an output shaft of the fourth motor is fixedly connected with the third connection point of the connecting piece.
Preferably, the movable platform is provided with a notch beside the position where each branched chain is arranged, and the lower end of the second guide branched chain penetrates through the notch of the movable platform and is hinged with the shank and the first connecting point of the connecting piece; and the end part of the opening of the movable platform is provided with the fourth motor.
Preferably, the foot end of the lower leg is of a spherical structure.
The walking robot comprises a robot body, wherein four hybrid robot leg mechanisms based on the UPR-R structure are mounted on the robot body, and the four hybrid robot leg mechanisms are arranged in a front-back and left-right symmetrical mode to form the four-footed walking robot.
Preferably, the machine body is provided with four cavities with hollow interiors, and the lower parts of the cavities are connected with the static platform in a sealing mode through threads.
Compared with the prior art, the technical scheme of the invention has the following advantages:
(1) according to the leg mechanism of the hybrid robot based on the UPR-R structure, provided by the invention, the shank is an independent component with a simple structure, the shank is rotatably connected with the thigh component through the movable platform, and the structures of the shank and the ankle part are greatly simplified through reasonable design of the whole leg mechanism, so that the quality of the leg mechanism is greatly reduced, the flexibility is greatly improved, the action amplitude is large in the walking process, the walking is stable and fast, and the working efficiency of a robot is improved; in addition, acute angles are formed between the static platform and the thigh component and between the thigh component and the shank component in the initial state, when the robot starts to walk, the structure similar to the zigzag structure can effectively slow down the impact generated by the contact between the legs of the robot and the ground, and can fully relieve the contact impact force even in a rugged and rugged severe environment, reduce the stress on the static platform and the movable platform, and reduce the vibration of the whole mechanism, so that the robot can be stably transited from the static state (the initial state) to the walking state, various instruments arranged on the robot can be effectively protected, and particularly, when the robot loads expensive precise instruments, the stable transition process is particularly important.
(2) The leg mechanism of the hybrid robot based on the UPR-R structure, provided by the invention, is characterized in that the thigh component comprises at least three branched chains with the UPR structure to form a parallel structure, and the thigh component and the shank component are connected in series through the R structure, so that the leg mechanism with series-parallel hybrid connection is formed, and the shank is controlled by an independent motor to realize the shank lifting action of the shank, so that the shank part can be independently and flexibly blocked, the shank lifting height is improved, and the control flexibility is also improved by an independent control mode with a large movement range.
(3) The connecting points of the first U auxiliary connecting block, the second U auxiliary connecting block and the third U auxiliary connecting block on the static platform are arranged according to an equilateral triangle, the connecting points of the first rotating auxiliary connecting block, the second rotating auxiliary connecting block and the third rotating auxiliary connecting block on the rotating platform are also arranged according to the equilateral triangle, particularly, the included angles of the axes of the rotating connecting holes of the first rotating auxiliary connecting block, the second rotating auxiliary connecting block and the third rotating auxiliary connecting block are all 60 degrees, the uniform arrangement mode can ensure that all components do not interfere with each other in the moving process of the mechanism, and the normal work of the whole leg mechanism is ensured.
(4) The leg mechanism of the hybrid robot based on the UPR-R structure and the walking robot can realize the motion of four degrees of freedom at the foot end, namely the rotation degree of freedom around the X direction, the rotation degree of freedom around the Y direction, the rotation degree of freedom around the Z direction and the movement degree of freedom in the Y direction, and have flexible action, can adapt to various complex terrain environments and have wide application range.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a first schematic diagram of a leg mechanism of a hybrid robot according to the present invention;
FIG. 2 is a second schematic diagram of the leg mechanism of the hybrid robot of the present invention;
FIG. 3 is a third schematic diagram of the leg mechanism of the hybrid robot of the present invention;
FIG. 4 is a schematic diagram of a leg part structure of the hybrid robot of the present invention;
FIG. 5 is a schematic view of the axis of each rotating pair connecting block of the movable platform in the leg mechanism of the hybrid robot of the present invention;
FIG. 6 is an overall schematic view of the walking robot of the present invention;
fig. 7 is a side view of the walking robot of the present invention.
The reference numbers in the figures denote: 1-a static platform, 2-a movable platform, 3-a first branched chain, 4-a second branched chain, 5-a third branched chain, 6-a first U pair connecting block, 7-a second U pair connecting block, 8-a third U pair connecting block, 9-a first revolute pair connecting block, 10-a second revolute pair connecting block, 11-a third revolute pair connecting block, 12-a first spiral moving pair, 13-a second spiral moving pair, 14-a third spiral moving pair, 15-a first guide branched chain, 16-a second guide branched chain, 17-a fourth U pair connecting block, 18-a fifth U pair connecting block, 19-a fourth revolute pair connecting block, 20-a first motor, 21-a second motor, 22-a third motor, 23-a fourth motor and 24-a connecting piece, 25-fuselage, 26-cavity, 27-shank, 28-sonar sensor, A-first connection point, B-second connection point, C-third connection point.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the preferred embodiment of the leg mechanism of the hybrid robot based on the UPR-R structure of the present invention includes a static platform 1, a thigh component connected to the static platform 1, and a shank component connected to the thigh component through a movable platform 2, wherein in an initial state, acute angles are formed between the static platform 1 and the thigh component, and between the thigh component and the shank component. This zigzag-like shape enables the overall structure to effectively absorb shock generated by contact of the leg mechanism with the ground at the start of walking.
The thigh assembly comprises at least three branched chains with UPR structures to form a parallel structure, and the static platform 1 is provided with at least three drivers for respectively driving the branched chains. In this embodiment, the stationary platform 1 is horizontally disposed, the thigh assembly includes three branched chains of a UPR structure, and the stationary platform 1 is provided with three drivers for driving the branched chains, respectively. The drivers control the extension and contraction of the branched chains respectively, and interference among the drivers does not occur.
In particular, the thigh member comprises a first branch 3, a second branch 4 and a third branch 5. The upper ends of the first branched chain 3, the second branched chain 4 and the third branched chain 5 are respectively connected with the static platform 1 through a first U auxiliary connecting block 6, a second U auxiliary connecting block 7 and a third U auxiliary connecting block 8, and the first branched chain 3, the second branched chain 4 and the third branched chain 5 can rotate universally relative to the static platform 1, so that the action amplitude and flexibility of the thigh part are increased. The lower ends of the first branched chain 3, the second branched chain 4 and the third branched chain 5 are respectively connected with the movable platform 2 through a first revolute pair connecting block 9, a second revolute pair connecting block 10 and a third revolute pair connecting block 11. A first helical movement pair 12, a second helical movement pair 13 and a third helical movement pair 14 which can extend/contract are respectively arranged in the first branch chain 3, the second branch chain 4 and the third branch chain 5. The static platform 1 is provided with a first motor 20, a second motor 21 and a third motor 22 which respectively drive the first branch chain 3, the second branch chain 4 and the third branch chain 5, and specifically, the first motor 20, the second motor 21 and the third motor 22 respectively control the extension/contraction actions of the first helical moving pair 12, the second helical moving pair 13 and the third helical moving pair 14.
As shown in fig. 4, in order to further ensure that the parallel mechanisms do not interfere with each other, the connection points of the first U sub-connection block 6, the second U sub-connection block 7, and the third U sub-connection block 8 on the stationary platform 1 are arranged in an equilateral triangle; first revolute pair connecting block 9, second revolute pair connecting block 10 with third revolute pair connecting block 11 is in the tie point on moving platform 2 also arranges according to equilateral triangle, and first revolute pair connecting block 9 the contained angle of second revolute pair connecting block 10 with the rotation connecting hole axis of third revolute pair connecting block 11 is 60, as shown in fig. 5, and the dotted line represents the rotation connecting hole axis of each revolute pair connecting block in the figure. By adopting the stable equilateral triangle structure arrangement, on one hand, the arrangement of the mechanism is convenient, and on the other hand, the mutual noninterference of the parallel mechanisms can be ensured, so that the leg mechanism can walk smoothly and stably.
The lower leg assembly comprises a connecting piece 24 and a lower leg 27, wherein the connecting piece 24 is provided with a first connecting point A, a second connecting point B and a third connecting point C, and the lower leg 27 is hinged with the first connecting point A of the connecting piece 24. The foot end of the lower leg 27 adopts a spherical structure, so that the landing position is more accurate, the buffer is small, and the working efficiency of the robot is improved.
In order to enhance the guiding and supporting of the thigh assembly to the static platform and to make the static platform more stable when the leg mechanism walks, the thigh assembly further comprises a first guiding branch chain 15 and a second guiding branch chain 16, the upper ends of the first guiding branch chain 15 and the second guiding branch chain 16 are respectively connected with the static platform 1 through a fourth U auxiliary connecting block 17 and a fifth U auxiliary connecting block 18, the lower end of the first guiding branch chain 15 is connected with the movable platform 2 through a fourth revolute pair connecting block 19, and the connecting point is located at the center of an equilateral triangle formed by the connecting points of the first revolute pair connecting block 9, the second revolute pair connecting block 10 and the third revolute pair connecting block 11 and the movable platform 2. The lower end of the second guiding branch 16 is hinged to the lower leg 27 and the first connection point a of the connecting piece 24, and the lower part of the movable platform 2 is hinged to the lower leg 27 and the second connection point B of the connecting piece 24, that is, the upper leg assembly and the lower leg assembly form a revolute pair R structure through the hinge connection at the second connection point B. As shown in the figure, the movable platform 2 has a gap near the position where each of the branched chains (parallel structure) is disposed, and the lower end of the second guiding branched chain 16 passes through the gap of the movable platform 2, and is further hinged to the lower leg 27 and the first connecting point a of the connecting member 24. A fourth motor 23 is arranged at the end of the gap of the movable platform 2, and an output shaft of the fourth motor 23 is fixedly connected with the third connection point C of the connecting piece 24.
The leg mechanism of the hybrid robot based on the UPR-R structure has the advantages that the foot end has the motion with four degrees of freedom, namely the rotational degree of freedom around the X direction, the rotational degree of freedom around the Y direction, the rotational degree of freedom around the Z direction and the moving degree of freedom in the Y direction, and the spatial three-dimensional output of the foot end is realized by controlling each rotational driver. The first motor 20, the second motor 21, and the third motor 22 control the extension/contraction of the first branch chain 3, the second branch chain 4, and the third branch chain 5, so that the rotational degree of freedom of the foot end about the X direction, the rotational degree of freedom about the Y direction, the rotational degree of freedom about the Z direction, and the translational degree of freedom about the Y direction are achieved, and the fourth motor 23 controls the rotation of the lower leg 27 about the second connection point B (revolute pair R) with respect to the thigh assembly, so that the rotational degree of freedom of the foot end about the Z direction is also achieved. The four rotation driving motors are respectively controlled, so that the leg structure design completely realizes flexible movement, does not interfere with each other, is simple to control, and can realize the functions of advancing, turning, obstacle avoidance and the like of the robot. In addition, the leg mechanism of the hybrid robot based on the UPR-R structure has stable and firm structure and certain bearing capacity, and can carry out heavy-load operation.
As shown in fig. 6 and 7, the present invention further provides a walking robot, which includes a body 25, wherein the body 25 is provided with four hybrid robot leg mechanisms based on the UPR-R structure, and the four hybrid robot leg mechanisms are arranged in front-back and left-right symmetry to form a four-legged walking robot.
The machine body 25 is provided with four hollow cavities 26, the cavities 26 are cylindrical structures, drivers for driving the branched chains are arranged in the cavities 26, and the lower parts of the cavities 26 are connected with the static platform 1 in a sealing mode through threads. Fuselage 25 has the effect of carrying on the platform concurrently, provides outside extended functionality for the robot, can with setting up controller, power, motor, detector etc. in cavity 26, cavity 26 has good waterproof function, is suitable for underwater operation, can effectively protect internal device. And various surveying devices such as sonar sensors 28 and the like can be arranged at the front end of the machine body 25, so that the functions of the robot are more diversified.
The walking robot provided by the invention can control the four motors to enable the legs of the robot to complete the actions of lifting, falling, left deviation, right deviation, advancing and retreating, and the robot can effectively avoid obstacles and improve the maneuvering performance of the robot while completing the basic actions of advancing, retreating, turning and the like. The walking robot provided by the invention is suitable for the application fields of walking, detecting, maintaining, rescuing and the like of underwater operation with complex terrain, has certain leg bearing capacity and can carry out heavy-load operation.
In other embodiments, if the requirement on the stability of the static platform is not so high, two guide branches, namely the first guide branch 15 and the second guide branch 16, may not be provided, and the object of the present invention can be achieved as well.
In other embodiments, the thigh assembly may be provided with four, five or even more branches of the UPR configuration, and the stationary platform 1 is provided with four, five or even more actuators for driving each of said branches, respectively.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (7)
1. The utility model provides a series-parallel connection robot shank mechanism based on UPR-R structure, including quiet platform (1) and with thigh subassembly that quiet platform (1) is connected, with thigh subassembly is through moving the shank subassembly that platform (2) are connected, its characterized in that: the thigh component comprises at least three branched chains with UPR structures, the static platform (1) is provided with at least three drivers for respectively driving the branched chains, the shank component comprises a shank (27), and the shank (27) is rotatably connected with the thigh component through the movable platform (2); in an initial state, the static platform (1) and the thigh component and the shank component are arranged in acute angles;
the thigh component comprises a first branch chain (3), a second branch chain (4) and a third branch chain (5), the upper ends of the first branched chain (3), the second branched chain (4) and the third branched chain (5) are respectively connected with the static platform (1) through a first U auxiliary connecting block (6), a second U auxiliary connecting block (7) and a third U auxiliary connecting block (8), the lower ends of the first branched chain (3), the second branched chain (4) and the third branched chain (5) are respectively connected with the movable platform (2) through a first revolute pair connecting block (9), a second revolute pair connecting block (10) and a third revolute pair connecting block (11), a first spiral moving pair (12), a second spiral moving pair (13) and a third spiral moving pair (14) which can extend/contract are respectively arranged in the first branched chain (3), the second branched chain (4) and the third branched chain (5);
the connection points of the first U auxiliary connection block (6), the second U auxiliary connection block (7) and the third U auxiliary connection block (8) on the static platform (1) are arranged in an equilateral triangle; the connecting points of the first revolute pair connecting block (9), the second revolute pair connecting block (10) and the third revolute pair connecting block (11) on the movable platform (2) are also arranged according to an equilateral triangle;
the lower leg assembly further comprises a connector (24), the connector (24) is provided with a first connecting point (A), a second connecting point (B) and a third connecting point (C), and the lower leg (27) is hinged with the first connecting point (A) of the connector (24);
the thigh assembly further comprises a first guide branch chain (15) and a second guide branch chain (16), the upper ends of the first guide branch chain (15) and the second guide branch chain (16) are respectively connected with the static platform (1) through a fourth U auxiliary connecting block (17) and a fifth U auxiliary connecting block (18), the lower end of the first guide branch chain (15) is connected with the movable platform (2) through a fourth revolute auxiliary connecting block (19), and the connecting point is located in the center of an equilateral triangle formed by the connecting points of the first revolute auxiliary connecting block (9), the second revolute auxiliary connecting block (10) and the third revolute auxiliary connecting block (11) and the movable platform (2); the lower end of the second guide branched chain (16) is hinged with the lower leg (27) and the first connecting point (A) of the connecting piece (24), and the lower part of the movable platform (2) is hinged with the lower leg (27) and the second connecting point (B) of the connecting piece (24).
2. The hybrid robot leg mechanism based on the UPR-R structure as claimed in claim 1, wherein: the included angles of the axes of the rotary connecting holes of the first rotary pair connecting block (9), the second rotary pair connecting block (10) and the third rotary pair connecting block (11) are all 60 degrees.
3. The hybrid robot leg mechanism based on the UPR-R structure as claimed in claim 1, wherein: the static platform (1) is horizontally arranged, a first motor (20), a second motor (21) and a third motor (22) which respectively drive the first branch chain (3), the second branch chain (4) and the third branch chain (5) are arranged on the static platform, a fourth motor (23) is arranged on the movable platform (2), and an output shaft of the fourth motor (23) is fixedly connected with a third connection point (C) of the connecting piece (24).
4. The hybrid robot leg mechanism based on the UPR-R structure as claimed in claim 3, wherein: the movable platform (2) is provided with a gap beside the position where each branched chain is arranged, and the lower end of the second guide branched chain (16) penetrates through the gap of the movable platform (2) and is hinged with the shank (27) and the first connecting point (A) of the connecting piece (24); and the end part of the gap of the movable platform (2) is provided with the fourth motor (23).
5. The hybrid robot leg mechanism based on the UPR-R structure as claimed in claim 3, wherein: the foot end of the lower leg (27) is of a spherical structure.
6. A walking robot comprising a body (25), characterized in that: the robot body (25) is provided with four hybrid robot leg mechanisms based on the UPR-R structure, which are set in a front-back and left-right symmetrical mode, according to any one of claims 1 to 5, so that a four-legged walking robot is formed.
7. The walking robot of claim 6, wherein: the machine body (25) is provided with four hollow cavities (26), and the lower parts of the cavities (26) are connected with the static platform (1) in a sealing mode through threads.
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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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| 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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| CN112093017B (en) * | 2020-09-14 | 2022-05-17 | 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 |
| CN112937720B (en) * | 2021-02-05 | 2021-09-28 | 重庆工程职业技术学院 | Walking robot |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN107719508A (en) * | 2016-04-05 | 2018-02-23 | 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 |
| CN106741287B (en) * | 2017-01-17 | 2018-10-12 | 北京交通大学 | A kind of bipod walking robot mechanism with leg structure in parallel |
| CN107554640B (en) * | 2017-09-08 | 2020-02-25 | 燕山大学 | Six-foot walker based on four-degree-of-freedom mechanism legs |
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