Decoupling legs mechanism for apery robot
Title：
Decoupling legs mechanism for apery robot
Application Number：
 200710063069
Application Date：
 2007/01/26
Announcement Date：
 2007/08/08
Pub. Date：
Publication Number：
 101011985
Announcement Number：
Grant Date：
Granted Pub. Date：
ApplicationType：
 Invention
State/Country：
 11[China|beijing]
IPC：
 B62D 57/032A63H 11/18
Applicant(s)：
 Tsinghua University
Inventor(s)：
 Yang Dongchao, Jia Zhenzhong, Chen Ken, Bin Yang, Zhao Danpu
Key Words：
 apery robot, decouple, legs, mechanism
Abstract：
 The invention relates to an anthropomorphic robot decoupling leg mechanism, which uses dual branch chain coupling mechanism of the complete decoupling, with one branch chain composed of sequentially connected active platform, No.1 side oscillating rotation sub, No.1 connecting piece, No.1 front oscillating rotation sub and static platform, the other branch chain composed of sequentially connected active platform, No.2 side oscillating rotation sub, No.2 linking piece, No.2 front oscillating rotation sub, big thigh, No.3 front oscillating rotation sub, small thigh, No.4 front oscillating rotation sub, moving sub, and static platform, with all front oscillating rotation sub parallel with the rotation shaft, all side oscillating rotation shaft sub parallel with the rotation shaft and vertical to the front oscillating rotation sub roation shaft and moving sub, with the front oscillating and side oscillating driven by the No.1 front oscillating rotation sub and moving sub. It effectively solves the coupling issue of analog robot legs front oscillating and side oscillating movement with improved robot leg rigidity and walking stability.
Claim：
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PCT：
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