Title:
PARALLEL-SERIES CONNECTION WALKING ROBOT AND CONSTRUCTION METHOD THEREOF
Document Type and Number:
WIPO Patent Application WO/2019/024839
Kind Code:
A1
Abstract:
A parallel-series connection walking robot and a construction method thereof. The parallel-series connection walking robot mainly comprises leg mechanisms A and B; one leg mechanism A is a parallel-series connection leg mechanism (3); the other leg mechanism B is a parallel-series connection leg mechanism (3) or a foot parallel-connection mechanism (1); and the parallel-series connection leg mechanism (3) is formed of a thigh mechanism (3.2) and a foot parallel-connection mechanism (3.1) through serial connection. The two leg mechanisms have a combination of a specific degree of freedom; upper portions of the two leg mechanisms are fixedly connected together; all members are included by and intersected with each other, but have independent activity spaces, respectively; and projections of the triangles formed by toes of the two leg mechanisms on a horizontal plane overlap with each other. During an advancing process, the robot can stably walk in any direction without left-right gravity center adjustment; and the robot also has the advantages of less kinematic pairs, lower robot body height, strong bearing capacity, steering flexibility, strong obstacle crossing ability and climbing up and down ability.
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Inventors:
HAN FANGYUAN (CN)
Application Number:
PCT/CN2018/097761
Publication Date:
February 07, 2019
Filing Date:
July 31, 2018
Export Citation:
Assignee:
HAN FANGYUAN (CN)
International Classes:
B25J9/00
Domestic Patent References:
| WO2004041486A1 | 2004-05-21 | |||
| WO2015168799A1 | 2015-11-12 |
Foreign References:
| CN107414793A | 2017-12-01 | |||
| CN101973027A | 2011-02-16 | |||
| CN104972453A | 2015-10-14 |
Attorney, Agent or Firm:
NTD UNIVATION INTELLECTUAL PROPERTY AGENCY LTD. (CN)
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