CN110091935B - Three-degree-of-freedom leg joint and method based on differential gear train - Google Patents
Three-degree-of-freedom leg joint and method based on differential gear train Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及机器人腿部关节领域，具体涉及一种基于差动轮系的三自由度腿部关节及方法。The invention relates to the field of robot leg joints, in particular to a three-degree-of-freedom leg joint and method based on a differential gear train.
背景技术Background technique
20世纪60年代，人类对于生物出色的特性进行理解、研究与再现的过程形成了一门学科——仿生学（Bionics）。该领域的专家学者对自然界中的生物进行了长期的实验观察，并对其运动特性以及生物特性进行了详细的剖析，发现有足动物在环境适应能力方面有着较强的优势。在国内外科研人员的不懈努力下，仿生足式移动机器人模仿有足动物的运动特征，通过控制一个或多个自由度的腿向前交替迈进，其地形适应性高于轮式和履带式移动机器人，在加装多种有效载荷后几乎可以实现任意地表的移动。但是目前该类机器人机构与控制复杂。大多数足式机器人腿部关节的运动由多个相互安装距离较远的执行机构，如电机驱动，导致机器人驱动腿体积过大，且质量分散，远端惯量过大，造成驱动机构的能耗过大。In the 1960s, the process of humans understanding, researching and reproducing the outstanding characteristics of living things formed a discipline - Bionics. Experts and scholars in this field have conducted long-term experimental observations on creatures in nature, and conducted detailed analysis of their movement characteristics and biological characteristics, and found that legged animals have strong advantages in environmental adaptability. With the unremitting efforts of researchers at home and abroad, the bionic legged mobile robot imitates the movement characteristics of legged animals, and moves forward alternately by controlling the legs of one or more degrees of freedom. Its terrain adaptability is higher than that of wheeled and tracked mobile robots. Robots can move on almost any surface after adding a variety of payloads. However, the mechanism and control of this type of robot are complicated at present. The movement of the leg joints of most legged robots is driven by multiple actuators that are installed far away from each other, such as motors, resulting in the robot's driving legs being too large in size, with scattered mass, and excessive inertia at the far end, resulting in energy consumption of the driving mechanism. is too big.
发明内容Contents of the invention
本发明所要解决的技术问题是针对背景技术中所涉及到的缺陷，提供一种基于差动轮系的三自由度腿部关节及方法。The technical problem to be solved by the present invention is to provide a three-degree-of-freedom leg joint and method based on a differential gear train for the defects involved in the background technology.
本发明为解决所述技术问题采用以下技术方案：The present invention adopts the following technical solutions for solving the technical problem:
基于差动轮系的三自由度腿部关节，包括支架、第一至第三驱动电机、第一至第二传动齿轮、第一至第三锥传动齿轮、回旋架、近端驱动腿和远端驱动腿；The three-degree-of-freedom leg joint based on the differential gear train, including the bracket, the first to the third drive motor, the first to the second transmission gear, the first to the third bevel transmission gear, the swing frame, the proximal driving leg and the distal end drive legs;
所述支架包括第一固定板、第二固定板、前安装板、中安装板和若干固定支柱；其中，所述第一固定板、第二固定板平行设置；所述若干固定支柱均设置在第一固定板、第二固定板之间，两端分别和第一固定板、第二固定板垂直固连；所述前安装板、中安装板均呈矩形，两侧均分别和第一固定板、第二固定板垂直固连；所述前安装板设置在第一固定板、第二固定板的一侧，中安装板设置在第一固定板、第二固定板的中部，前安装板和中安装板平行设置；所述前安装板上设有第一通孔和供所述第二传动齿轮转轴穿过的第二通孔，所述中安装板上设有供所述第一驱动电机输出轴穿过的第三通孔；The bracket includes a first fixing plate, a second fixing plate, a front mounting plate, a middle mounting plate and several fixed pillars; wherein, the first fixed plate and the second fixed plate are arranged in parallel; the several fixed pillars are all arranged on Between the first fixed plate and the second fixed plate, the two ends are respectively vertically fixed to the first fixed plate and the second fixed plate; the front mounting plate and the middle mounting plate are rectangular, and both sides are respectively fixed Plate and the second fixed plate are vertically connected; the front mounting plate is arranged on one side of the first fixed plate and the second fixed plate, the middle mounting plate is arranged in the middle of the first fixed plate and the second fixed plate, and the front mounting plate Set in parallel with the middle mounting plate; the front mounting plate is provided with a first through hole and a second through hole for the second transmission gear shaft to pass through, and the middle mounting plate is provided with a first through hole for the first drive The third through hole through which the output shaft of the motor passes;
所述回旋架呈U型，包含第一侧板、第二侧板和底板，所述第一侧板、第二侧板均和所述底板垂直固连，所述第一侧板上设有供所述第一锥传动齿轮转轴穿过的第四通孔，第二侧板上设有供所述第二锥传动齿轮转轴穿过的第五通孔，底板上设有供所述第三锥传动齿轮转轴穿过的第六通孔；The swing frame is U-shaped and includes a first side plate, a second side plate and a bottom plate, the first side plate and the second side plate are vertically fixed to the bottom plate, and the first side plate is provided with The fourth through hole for the shaft of the first bevel transmission gear to pass through, the second side plate is provided with the fifth through hole for the shaft of the second bevel transmission gear to pass through, and the bottom plate is provided with the third through hole for the shaft of the second bevel transmission gear to pass through. The sixth through hole through which the rotating shaft of the bevel transmission gear passes;
所述第一传动齿轮、第二传动齿轮均设置在前安装板外侧，其转轴分别穿过所述第一通孔、第二通孔且通过轴承和所述前安装板相连；Both the first transmission gear and the second transmission gear are arranged on the outside of the front mounting plate, and their rotating shafts respectively pass through the first through hole and the second through hole and are connected to the front mounting plate through bearings;
所述第一至第三锥传动齿轮均设置在所述回旋架内，其中，所述第一锥传动齿轮的转轴穿过所述第四通孔且通过轴承和所述第一侧板相连；所述第二锥传动齿轮的转轴穿过所述第五通孔且通过轴承和所述第二侧板相连；所述第三锥传动齿轮的转轴穿过所述第六通孔且通过轴承和所述底板相连；所述第一锥传动齿轮、第二锥传动齿轮均和所述第三锥传动齿轮啮合，且第一至第三锥传动齿轮的齿数相同；The first to third bevel transmission gears are all arranged in the slewing frame, wherein the rotating shaft of the first bevel transmission gear passes through the fourth through hole and is connected to the first side plate through a bearing; The rotating shaft of the second bevel transmission gear passes through the fifth through hole and is connected to the second side plate through a bearing; the rotating shaft of the third bevel transmission gear passes through the sixth through hole and is connected to the second side plate through a bearing and The base plates are connected; the first bevel transmission gear and the second bevel transmission gear mesh with the third bevel transmission gear, and the first to third bevel transmission gears have the same number of teeth;
所述回旋架设置在第一固定板、第二固定板、前安装板、中安装板围成的空间内；所述第一驱动电机固定在所述中安装板上，其输出轴穿过所述第三通孔和所述第二锥传动齿轮伸出第二侧板的转轴同轴固连；所述第二传动齿轮的转轴穿过所述第二通孔后和所述第一锥传动齿轮伸出第一侧板的转轴同轴固连；所述第二驱动电机固定在所述前安装板上，其输出端和所述第一传动齿轮的转轴同轴固连；The swing frame is arranged in the space enclosed by the first fixed plate, the second fixed plate, the front mounting plate and the middle mounting plate; the first driving motor is fixed on the middle mounting plate, and its output shaft passes through the The third through hole is coaxially connected with the rotating shaft of the second bevel transmission gear protruding from the second side plate; The rotating shaft of the gear protruding from the first side plate is coaxially fixed; the second driving motor is fixed on the front mounting plate, and its output end is coaxially fixedly connected with the rotating shaft of the first transmission gear;
所述第一固定板、第二固定板上均设有用于供所述回旋架转动的缺口；Both the first fixed plate and the second fixed plate are provided with notches for the rotation of the swivel frame;
所述近端驱动腿一端和所述第三锥传动齿轮的伸出底板的转轴同轴固连；One end of the proximal driving leg is coaxially fixedly connected with the rotating shaft of the third bevel transmission gear protruding from the bottom plate;
所述第三驱动电机固定在所述近端驱动腿的另一端，其输出轴和所述远端驱动腿的一端垂直固连，用于驱动所述远端驱动腿相对于近端驱动腿旋转。The third driving motor is fixed on the other end of the proximal driving leg, and its output shaft is vertically fixed to one end of the distal driving leg for driving the distal driving leg to rotate relative to the proximal driving leg .
作为本发明基于差动轮系的三自由度腿部关节进一步的优化方案，还包含第一至第三连接模块；As a further optimization scheme of the three-degree-of-freedom leg joint based on the differential gear train of the present invention, it also includes first to third connection modules;
所述第一至第三连接模块包含磁座安装板和固定在磁座安装板上的磁座；The first to third connection modules include a magnetic base mounting plate and a magnetic base fixed on the magnetic base mounting plate;
所述第一连接模块设置在第一固定板、第二固定板远离前安装板的一侧；所述第二连接模块、第三连接模块均设置在所述第一固定板、第二固定板的上侧；所述第一至第三连接模块的磁座安装板均和第一固定板、第二固定板连接；所述第一至第三连接模块的磁座均设置在其磁座安装板的外侧，用于和其他三自由度腿部关节通过磁力快速连接和拆卸。The first connecting module is arranged on the side of the first fixing plate and the second fixing plate away from the front mounting plate; the second connecting module and the third connecting module are both arranged on the first fixing plate and the second fixing plate The upper side of the upper side; the magnetic seat mounting plates of the first to third connection modules are all connected to the first fixed plate and the second fixed plate; the magnetic seats of the first to third connection modules are all arranged on their magnetic seat installation The outer side of the board is used for quick connection and detachment with other three-degree-of-freedom leg joints through magnetic force.
本发明还公开了一种该基于差动轮系的三自由度腿部关节的驱动方法，包含以下步骤：The invention also discloses a driving method of the three-degree-of-freedom leg joint based on the differential gear train, which includes the following steps:
第一驱动电机能够带动第二锥传动齿轮转动，第二驱动电机通过第一传动齿轮与第二传动齿轮构成的直齿轮副能够带动第一锥传动齿轮转动，第三锥传动齿轮作为差动轮系的行星轮，能够同时在第一锥传动齿轮和第二锥传动齿轮轮齿上滚动；The first drive motor can drive the second bevel transmission gear to rotate, the second drive motor can drive the first bevel transmission gear to rotate through the spur gear pair formed by the first transmission gear and the second transmission gear, and the third bevel transmission gear is used as a differential wheel The planetary gear of the system can roll on the teeth of the first bevel transmission gear and the second bevel transmission gear at the same time;
如果需要驱动腿部关节滚转：控制第一驱动电机、第二驱动电机工作，使得第二锥传动齿轮和第一锥传动齿轮转速相等、方向相反；If it is necessary to drive the leg joints to roll: control the first drive motor and the second drive motor to work, so that the second bevel transmission gear and the first bevel transmission gear have equal speeds and opposite directions;
如果需要驱动腿部关节俯仰：控制第一驱动电机、第二驱动电机工作，使得第二锥传动齿轮和第一锥传动齿轮转速相等、方向相同；If it is necessary to drive the leg joints to pitch: control the first drive motor and the second drive motor to work, so that the second bevel transmission gear and the first bevel transmission gear have the same rotational speed and the same direction;
如果需要驱动腿部关节屈伸：控制第三驱动电机工作，带动近端驱动腿和远端驱动腿相互转动。If it is necessary to drive the flexion and extension of the leg joints: control the operation of the third driving motor to drive the proximal driving leg and the distal driving leg to rotate mutually.
本发明采用以上技术方案与现有技术相比，具有以下技术效果：Compared with the prior art, the present invention adopts the above technical scheme and has the following technical effects:
本发明结构简单，使用方便，解决了足式机器人驱动腿结构的复杂性和惯量过大等问题，有助于实现驱动腿乃至整个足式机器人的模块化设计。The invention is simple in structure and easy to use, solves the problems of the complexity of the driving leg structure of the footed robot and the excessive inertia, and is helpful to realize the modular design of the driving leg and even the entire footed robot.
附图说明Description of drawings
图1为本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图2为本发明差动轮系机构示意图。Fig. 2 is a schematic diagram of the differential gear train mechanism of the present invention.
图中，1-第一驱动电机；2-第一连接模块的磁座；3-第一连接模块的磁座安装板；4-第一固定板；5-固定支柱；6-第二连接模块的磁座安装板；7-第二连接模块的磁座；8-第二固定板；9-第二驱动电机；10-前安装板；11-第一传动齿轮；12-第二传动齿轮；13-第一锥传动齿轮；14-第二锥传动齿轮；15-第三锥传动齿轮；16-第一侧板；17-底板；18-近端驱动腿；19-远端驱动腿；20-第三驱动电机；21-第二侧板；22-中安装板。In the figure, 1-the first drive motor; 2-the magnetic seat of the first connection module; 3-the magnetic seat mounting plate of the first connection module; 4-the first fixing plate; 5-the fixed pillar; 6-the second connection module 7-the magnetic seat of the second connection module; 8-the second fixed plate; 9-the second drive motor; 10-the front mounting plate; 11-the first transmission gear; 12-the second transmission gear; 13-the first bevel transmission gear; 14-the second bevel transmission gear; 15-the third bevel transmission gear; 16-the first side plate; - the third driving motor; 21 - the second side plate; 22 - the middle mounting plate.
实施方式Implementation
下面结合附图对本发明的技术方案做进一步的详细说明：Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
本发明可以以许多不同的形式实现，而不应当认为限于这里所述的实施例。相反，提供这些实施例以便使本公开透彻且完整，并且将向本领域技术人员充分表达本发明的范围。在附图中，为了清楚起见放大了组件。This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
如图1所示， 本发明公开了一种基于差动轮系的三自由度腿部关节，包括支架、第一至第三驱动电机、第一至第二传动齿轮、第一至第三锥传动齿轮、回旋架、近端驱动腿、远端驱动腿、以及第一至第三连接模块；As shown in Figure 1, the present invention discloses a three-degree-of-freedom leg joint based on a differential gear train, including a bracket, first to third drive motors, first to second transmission gears, first to third cones transmission gear, swivel frame, proximal driving leg, distal driving leg, and first to third connecting modules;
所述支架包括第一固定板、第二固定板、前安装板、中安装板和若干固定支柱；其中，所述第一固定板、第二固定板平行设置；所述若干固定支柱均设置在第一固定板、第二固定板之间，两端分别和第一固定板、第二固定板垂直固连；所述前安装板、中安装板均呈矩形，两侧均分别和第一固定板、第二固定板垂直固连；所述前安装板设置在第一固定板、第二固定板的一侧，中安装板设置在第一固定板、第二固定板的中部，前安装板和中安装板平行设置；所述前安装板上设有第一通孔和供所述第二传动齿轮转轴穿过的第二通孔，所述中安装板上设有供所述第一驱动电机输出轴穿过的第三通孔；The bracket includes a first fixing plate, a second fixing plate, a front mounting plate, a middle mounting plate and several fixed pillars; wherein, the first fixed plate and the second fixed plate are arranged in parallel; the several fixed pillars are all arranged on Between the first fixed plate and the second fixed plate, the two ends are respectively vertically fixed to the first fixed plate and the second fixed plate; the front mounting plate and the middle mounting plate are rectangular, and both sides are respectively fixed Plate and the second fixed plate are vertically connected; the front mounting plate is arranged on one side of the first fixed plate and the second fixed plate, the middle mounting plate is arranged in the middle of the first fixed plate and the second fixed plate, and the front mounting plate Set in parallel with the middle mounting plate; the front mounting plate is provided with a first through hole and a second through hole for the second transmission gear shaft to pass through, and the middle mounting plate is provided with a first through hole for the first drive The third through hole through which the output shaft of the motor passes;
所述回旋架呈U型，包含第一侧板、第二侧板和底板，所述第一侧板、第二侧板均和所述底板垂直固连，所述第一侧板上设有供所述第一锥传动齿轮转轴穿过的第四通孔，第二侧板上设有供所述第二锥传动齿轮转轴穿过的第五通孔，底板上设有供所述第三锥传动齿轮转轴穿过的第六通孔；The swing frame is U-shaped and includes a first side plate, a second side plate and a bottom plate, the first side plate and the second side plate are vertically fixed to the bottom plate, and the first side plate is provided with The fourth through hole for the shaft of the first bevel transmission gear to pass through, the second side plate is provided with the fifth through hole for the shaft of the second bevel transmission gear to pass through, and the bottom plate is provided with the third through hole for the shaft of the second bevel transmission gear to pass through. The sixth through hole through which the rotating shaft of the bevel transmission gear passes;
所述第一传动齿轮、第二传动齿轮均设置在前安装板外侧，其转轴分别穿过所述第一通孔、第二通孔且通过轴承和所述前安装板相连；Both the first transmission gear and the second transmission gear are arranged on the outside of the front mounting plate, and their rotating shafts respectively pass through the first through hole and the second through hole and are connected to the front mounting plate through bearings;
所述第一至第三锥传动齿轮均设置在所述回旋架内，其中，所述第一锥传动齿轮的转轴穿过所述第四通孔且通过轴承和所述第一侧板相连；所述第二锥传动齿轮的转轴穿过所述第五通孔且通过轴承和所述第二侧板相连；所述第三锥传动齿轮的转轴穿过所述第六通孔且通过轴承和所述底板相连；所述第一锥传动齿轮、第二锥传动齿轮均和所述第三锥传动齿轮啮合，且第一至第三锥传动齿轮的齿数相同；The first to third bevel transmission gears are all arranged in the slewing frame, wherein the rotating shaft of the first bevel transmission gear passes through the fourth through hole and is connected to the first side plate through a bearing; The rotating shaft of the second bevel transmission gear passes through the fifth through hole and is connected to the second side plate through a bearing; the rotating shaft of the third bevel transmission gear passes through the sixth through hole and is connected to the second side plate through a bearing and The base plates are connected; the first bevel transmission gear and the second bevel transmission gear mesh with the third bevel transmission gear, and the first to third bevel transmission gears have the same number of teeth;
所述回旋架设置在第一固定板、第二固定板、前安装板、中安装板围成的空间内；所述第一驱动电机固定在所述中安装板上，其输出轴穿过所述第三通孔和所述第二锥传动齿轮伸出第二侧板的转轴同轴固连；所述第二传动齿轮的转轴穿过所述第二通孔后和所述第一锥传动齿轮伸出第一侧板的转轴同轴固连；所述第二驱动电机固定在所述前安装板上，其输出端和所述第一传动齿轮的转轴同轴固连；The swing frame is arranged in the space enclosed by the first fixed plate, the second fixed plate, the front mounting plate and the middle mounting plate; the first driving motor is fixed on the middle mounting plate, and its output shaft passes through the The third through hole is coaxially connected with the rotating shaft of the second bevel transmission gear protruding from the second side plate; The rotating shaft of the gear protruding from the first side plate is coaxially fixed; the second driving motor is fixed on the front mounting plate, and its output end is coaxially fixedly connected with the rotating shaft of the first transmission gear;
所述第一固定板、第二固定板上均设有用于供所述回旋架转动的缺口；Both the first fixed plate and the second fixed plate are provided with notches for the rotation of the swivel frame;
所述近端驱动腿一端和所述第三锥传动齿轮的伸出底板的转轴同轴固连；One end of the proximal driving leg is coaxially fixedly connected with the rotating shaft of the third bevel transmission gear protruding from the bottom plate;
所述第三驱动电机固定在所述近端驱动腿的另一端，其输出轴和所述远端驱动腿的一端垂直固连，用于驱动所述远端驱动腿相对于近端驱动腿旋转；The third driving motor is fixed on the other end of the proximal driving leg, and its output shaft is vertically fixed to one end of the distal driving leg for driving the distal driving leg to rotate relative to the proximal driving leg ;
所述第一至第三连接模块包含磁座安装板和固定在磁座安装板上的磁座；The first to third connection modules include a magnetic base mounting plate and a magnetic base fixed on the magnetic base mounting plate;
所述第一连接模块设置在第一固定板、第二固定板远离前安装板的一侧；所述第二连接模块、第三连接模块均设置在所述第一固定板、第二固定板的上侧；所述第一至第三连接模块的磁座安装板均和第一固定板、第二固定板连接；所述第一至第三连接模块的磁座均设置在其磁座安装板的外侧，用于和其他三自由度腿部关节通过磁力快速连接和拆卸。The first connecting module is arranged on the side of the first fixing plate and the second fixing plate away from the front mounting plate; the second connecting module and the third connecting module are both arranged on the first fixing plate and the second fixing plate The upper side of the upper side; the magnetic seat mounting plates of the first to third connection modules are all connected to the first fixed plate and the second fixed plate; the magnetic seats of the first to third connection modules are all arranged on their magnetic seat installation The outer side of the board is used for quick connection and detachment with other three-degree-of-freedom leg joints through magnetic force.
本发明还公开了一种该基于差动轮系的三自由度腿部关节的驱动方法，包含以下步骤：The invention also discloses a driving method of the three-degree-of-freedom leg joint based on the differential gear train, which includes the following steps:
第一驱动电机能够带动第二锥传动齿轮转动，第二驱动电机通过第一传动齿轮与第二传动齿轮构成的直齿轮副能够带动第一锥传动齿轮转动，第三锥传动齿轮作为差动轮系的行星轮，能够同时在第一锥传动齿轮和第二锥传动齿轮轮齿上滚动；The first drive motor can drive the second bevel transmission gear to rotate, the second drive motor can drive the first bevel transmission gear to rotate through the spur gear pair formed by the first transmission gear and the second transmission gear, and the third bevel transmission gear is used as a differential wheel The planetary gear of the system can roll on the teeth of the first bevel transmission gear and the second bevel transmission gear at the same time;
如果需要驱动腿部关节滚转：控制第一驱动电机、第二驱动电机工作，使得第二锥传动齿轮和第一锥传动齿轮转速相等、方向相反；If it is necessary to drive the leg joints to roll: control the first drive motor and the second drive motor to work, so that the second bevel transmission gear and the first bevel transmission gear have equal speeds and opposite directions;
如果需要驱动腿部关节俯仰：控制第一驱动电机、第二驱动电机工作，使得第二锥传动齿轮和第一锥传动齿轮转速相等、方向相同；If it is necessary to drive the leg joints to pitch: control the first drive motor and the second drive motor to work, so that the second bevel transmission gear and the first bevel transmission gear have the same rotational speed and the same direction;
如果需要驱动腿部关节屈伸：控制第三驱动电机工作，带动近端驱动腿和远端驱动腿相互转动。If it is necessary to drive the flexion and extension of the leg joints: control the operation of the third driving motor to drive the proximal driving leg and the distal driving leg to rotate mutually.
如图2所示，当第二锥传动齿轮通过通过与第一锥传动齿轮通过通过转速相等，方向相反时，仅第三锥传动齿轮通过通过转动，带动驱动腿机构绕第三锥传动齿轮通过通过轴线滚转，输出角度大小为γ。当第二锥传动齿轮通过通过与第一锥传动齿轮通过通过转速相等，方向相同时，第三锥传动齿轮通过通过不再转动，仅绕第一锥齿轮通过通过轴线产生偏转，输出角度为β，带动驱动腿机构实现俯仰动作。当第二锥传动齿轮通过通过与第一锥传动齿轮通过通过转速不等或方向不同时，驱动腿机构同时滚转与俯仰。通过调整第一驱动电机通过和第二驱动电机通过输出轴的转速和转向，就能够产生不同的驱动腿机构滚转与俯仰角度和角速度，继而产生不同的驱动腿机构末端轨迹。As shown in Figure 2, when the passing speed of the second bevel transmission gear is equal to that of the first bevel transmission gear and the direction is opposite, only the third bevel transmission gear passes through and rotates, driving the driving leg mechanism to pass around the third bevel transmission gear By axis roll, the output angle size is γ. When the passing speed of the second bevel transmission gear is equal to that of the first bevel transmission gear, and the direction is the same, the third bevel transmission gear does not rotate anymore, and only deflects around the passage axis of the first bevel gear, and the output angle is β , drives the driving leg mechanism to realize the pitching action. When the second bevel transmission gear passes through and the first bevel transmission gear passes through at different speeds or directions, the driving leg mechanism rolls and pitches simultaneously. By adjusting the rotational speed and steering of the output shafts of the first drive motor and the second drive motor, different roll and pitch angles and angular velocities of the drive leg mechanism can be generated, and then different end trajectories of the drive leg mechanism can be generated.
本技术领域技术人员可以理解的是，除非另外定义，这里使用的所有术语（包括技术术语和科学术语）具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in commonly used dictionaries should be understood to have a meaning consistent with the meaning in the context of the prior art, and unless defined as herein, are not to be interpreted in an idealized or overly formal sense explain.
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
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