CN2848489Y - Bifeet robot - Google Patents
Bifeet robot Download PDFInfo
- Publication number
- CN2848489Y CN2848489Y CN 200520077114 CN200520077114U CN2848489Y CN 2848489 Y CN2848489 Y CN 2848489Y CN 200520077114 CN200520077114 CN 200520077114 CN 200520077114 U CN200520077114 U CN 200520077114U CN 2848489 Y CN2848489 Y CN 2848489Y
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- China
- Prior art keywords
- basic module
- robot
- servomotor
- utility
- direct current
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Abstract
The utility model relates to a robot with two feet, which can generate different deformation and great deformation. Six servo motors, two direct current motors, a bracket, an upper plate and an upper cover are mutually connected to form a mechanical structure. The utility model can satisfy motion constraint conditions and can satisfy the equilibrium conditions at every point during motion. The motion process is very stable. The structure of the joints of the robot with two feet is simple and universal because of adopting a modular design. The control kernel of the robot with two feet is realized by an AVR single chip computer, and the motion process is controlled by a program.
Description
Affiliated technical field
The utility model relates to a kind of biped robot, does not especially have upper body, can realize various deformation and the robot that is out of shape significantly.
Background technology
Present biped robot all is the equation of motion of setting up each joint earlier, goes to simulate the motion in each joint then by the motion of motor.But, by the starting point and the foothold of only taking a step at the volley after this combination is balance, remaining movement position is unbalanced, cause deflection and deformation extent limited, and present biped robot design process all is by global design, process is loaded down with trivial details, and design theory is accurate inadequately.
Summary of the invention
For accuracy and the deficiency of stability and the loaded down with trivial details property of design process that overcomes present biped robot, the utility model provides a kind of biped robot, this biped robot can not only accomplish the balance of each point and motion steadily, can realize various deformation and distortion significantly, and adopted modular design method, make the structural design in biped robot joint simple, general.
The technical scheme that its technical problem that solves the utility model adopts is: this biped robot adopts six driven by servomotor, introduces two direct current generators in foot, does not have upper body, has enriched the action of biped robot, has improved the flexibility of biped robot.This biped robot all is reduced to the general module that the motor shaft quadrature of two basic modules place to form with all motions, and this biped robot is set up just as " playing with building blocks " and formed, and makes the structural design in biped robot joint simple, general.
Various motion of the present utility model is decomposed into the motion of forward, side direction and three directions of deflection, and the resultant motion of biped robot is the synthetic of these three direction motions, and the restraining force of supposing to produce except ground, these motions are not interfered mutually.Simultaneously, whole gait processes is decomposed into monopodia and supports phase, biped support phase and middle transitional holding state.In different conditions, there is different constrained objectives in robot, thereby kinetic characteristic is different, and in same state, the characteristic of motion then is the same.
Motion mode of the present utility model is to adopt the static balancing method, because movement velocity of the present utility model is slower, can ignore The Effect of Inertia Force, so its motion is divided into several equalization points, realizes that the balance of each equalization point can realize exercises.
The utility model is the free degree of going to the implementation space in the vertical stack of X, the Y direction free degree by motor, so in equilibrium analysis, the balance of biped robot is divided into the synthetic of horizontal and vertical both direction balance, if biped robot satisfies horizontal and vertical equilibrium condition simultaneously, just can reach balance.
The utility model must meet the following conditions when setting gait:
(1) stability of equilibrium
In static walking, single leg supports the phase center of gravity and must drop in single leg supporting zone, and center of gravity must drop in the two leg supporting zones when two legs support:
G
0∈B
G
0Be the center of gravity of biped robot, the view field when on behalf of single, double pin, B support.
(2) exceeding property more
In whole motion process, biped robot can not collide with ground or barrier, that is:
y
a(t)≥y(x)
(y in the formula
a(t)) coordinate of the mobile leg of expression foot end, y (x) is the obstacle shape, if y (x)=0 during the level land.
(3) periodically
In the time of will realizing continuous walking with a kind of gait, whole gait function also must satisfy certain periodicity.
Motion process of the present utility model all is the constraints of determining to carry out gait planning by gait analysis, carry out analysis of mechanism, determine horizontal and vertical equilibrium condition, set up the theory movement equation in each joint, equation is divided into limited equalization point, make biped robot in motion, not only can satisfy the kinematic constraint condition and also satisfy equilibrium condition, can improve the stability of biped robot motion process like this at this point.
Control core of the present utility model adopts the AVR chip microcontroller, with its embedded control system of biped robot behavior control that has been core design, the employing contact pin type connects, servomotor and direct current generator separate supply with microcontroller power supply, make that this control panel volume is little, and antijamming capability is strong, and motion process is by programme-control.Adopt single-chip microcomputer as central controller, be used for controlling and coordinating the motion conditions of direct current generator and servomotor, thereby produce various default behaviors and action, the operating state signal of direct current generator and servomotor need generate by computer software, by computer and microcontroller communication, control signal is downloaded in the single-chip microcomputer again.
The beneficial effects of the utility model are, increased the stationarity of biped robot, enriched the action of biped robot, and the flexibility that has improved biped robot, simplified the design process of biped robot, this biped robot can finish skate walk, take a step, leg, little split, degree of depth split, handstand, handstand dancing are lifted in side step, height, climbed after falling, horizontal and vertical creeping.
Description of drawings
Below in conjunction with accompanying drawing the utility model is further specified.
Fig. 1 is a front view of the present utility model.
Fig. 2 is circuit theory diagrams of the present utility model.
1. chassis, 2. direct current generators, 3. servomotors, 4. steering wheels, 5. supports, 6. upper plates, 7. loam cakes among the figure
The specific embodiment
The utility model adopts six driven by servomotor, has introduced two direct current generators in foot, does not have upper body.Steering wheel in Fig. 1 (4) is enclosed within on the projecting shaft of servomotor (3), and servomotor (3) forms a whole, this integral body and support (5) connect to form a basic module by screw, just comprise six such basic modules in the utility model, the motor shaft quadrature of two basic modules is placed and is formed general module.
Chassis (1) is connected with bolt with direct current generator (2), servomotor (3) in direct current generator (2) and first basic module is used the AB glue bond, the motor shaft of second basic module and the motor shaft quadrature of first basic module are placed, the servomotor (3) of the support of first basic module (5) and second basic module is by the AB glue bond, the motor shaft quadrature of second basic module and the 3rd basic module is placed, the support (5) that connects two basic modules by bolt, second and the 3rd basic module are coupled together, so just formed one leg of the present utility model, one leg is that symmetry is installed in addition.Upper plate (6) is connected by bolt with the servomotor (3) of two basic modules in the top, and loam cake (7) is to be embedded in the upper plate (6), and loam cake (7) can take out at any time, circuit board is placed on above the upper plate (6) loam cake (7) the inside.
Claims (2)
1. robot, it is characterized in that: by a kind of frame for movement that interconnects composition of chassis, six servomotors, two direct current generators, support, upper plate and loam cakes, adopt modularized design, steering wheel is enclosed within on the projecting shaft of servomotor, form an integral body with servomotor, this integral body and support connect to form a basic module by screw.
2. robot according to claim 1, it is characterized in that: the chassis is connected with bolt with direct current generator, servomotor AB glue bond in direct current generator and first basic module, the motor shaft of second basic module and the motor shaft quadrature of first basic module are placed, the servomotor of the support of first basic module and second basic module is by the AB glue bond, the motor shaft quadrature of second basic module and the 3rd basic module is placed, the support that connects two basic modules by bolt, second and the 3rd basic module are coupled together, so just formed one leg of the present utility model, one leg is that symmetry is installed in addition, upper plate is connected by bolt with the servomotor of two basic modules in the top, loam cake is to be embedded in the upper plate, loam cake can take out at any time, circuit board is placed on above the upper plate loam cake the inside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520077114 CN2848489Y (en) | 2005-11-03 | 2005-11-03 | Bifeet robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520077114 CN2848489Y (en) | 2005-11-03 | 2005-11-03 | Bifeet robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2848489Y true CN2848489Y (en) | 2006-12-20 |
Family
ID=37520967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520077114 Expired - Fee Related CN2848489Y (en) | 2005-11-03 | 2005-11-03 | Bifeet robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2848489Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690419A (en) * | 2016-03-31 | 2016-06-22 | 北京钢铁侠科技有限公司 | Hip joint and ankle joint general mechanism and humanoid robot |
-
2005
- 2005-11-03 CN CN 200520077114 patent/CN2848489Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690419A (en) * | 2016-03-31 | 2016-06-22 | 北京钢铁侠科技有限公司 | Hip joint and ankle joint general mechanism and humanoid robot |
| CN105690419B (en) * | 2016-03-31 | 2019-04-23 | 北京钢铁侠科技有限公司 | Hip joint and ankle-joint current mechanism and anthropomorphic robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |