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leg type mobile robot's leg body joint assist device
leg type mobile robot's leg body joint assist device
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机译：腿式移动机器人的腿身关节辅助装置
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摘要
assist device (11) has a spring means (21) (gas spring), complete with cylinder (23) in the piston (24) of the robot body (3) of the knee joint (8) in the femoral part (4) and the tibia part (5) of the relative displacement motion (expansion movement), and in accordance with the movement. the piston (24) and the gas chamber (25, 26) of the gas filling. knee joint (8) in the bottom level of the specified value, and the power, and a gas chamber (25, 26) of the cylinder (23) in a groove (28) through the contact, the spring means (21) of the shells do not occur, and the set value, it is more difficult the gas chamber (25, 26) are closed. as spring means (21) of the occurrence of coal, the coal city strength of knee joint (8) as the auxiliary. the play a role. a small and simple structure of the robot, the energy consumption of the system, the joint action of the device to reduce the burden of. moreover, the knee joint (8) of the power level of the spring means (21) of the auxiliary power. the characteristic changes of control.
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