WO2018097437A1 - Robot lower body comprising parallel link structure, and walking robot device comprising same - Google Patents

Robot lower body comprising parallel link structure, and walking robot device comprising same Download PDF

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Publication number
WO2018097437A1
WO2018097437A1 PCT/KR2017/006324 KR2017006324W WO2018097437A1 WO 2018097437 A1 WO2018097437 A1 WO 2018097437A1 KR 2017006324 W KR2017006324 W KR 2017006324W WO 2018097437 A1 WO2018097437 A1 WO 2018097437A1
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WO
WIPO (PCT)
Prior art keywords
drive link
main drive
link
auxiliary
torque
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PCT/KR2017/006324
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French (fr)
Korean (ko)
Inventor
이종우
오용환
이기욱
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한국과학기술연구원
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Publication of WO2018097437A1 publication Critical patent/WO2018097437A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control

Definitions

  • the present invention relates to a lower body of a robot and a walking robot device including the same, and more particularly, to a lower body of a robot performing a walking operation with a plurality of link structures and a walking robot device including the same.
  • a serial link structure in which a plurality of links are connected in series and a parallel link structure in which a plurality of links are connected in parallel are applied.
  • a serial link structure having six degrees of freedom is usually used.
  • an actuator that generates torque to rotate the link for each joint is disposed on the joint or at another position.
  • the angle of rotation of the link and the required torque can be directly calculated when the link connected to the joint is rotated, so that control can be easily performed.
  • the amount of torque added is drastically increased due to the actuator's own load.
  • the present invention has been made to solve the above-mentioned problems of the walking robot device, and the main drive link is rotated by the auxiliary drive link rotatably connected in parallel to the link or the body connected to each joint of one main drive link.
  • the lower body of the robot capable of distributing the torque required to calculate the motion of the auxiliary drive link, based on the calculation for the motion of the main drive link and the constraints on the position and angle of the main drive link.
  • An object of the present invention is to provide a walking robot device including the same.
  • Robot lower body for solving the above problems is the first main drive link is rotatably connected to the body; A second main drive link connected to the distal end of the first main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link; A first auxiliary drive link connected to the body so as to be rotatable about an axis parallel to the rotation axis of the first main drive link; And a first transmission link having one end connected to an end of the first auxiliary drive link and the other end connected to the second main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link.
  • the movable range of the position on the main drive link to which the transmission link is connected is included in the movable range of the other end of the transmission link, and the torque applied to the auxiliary drive link is torque only to the main drive links. Is determined in consideration of the torque to be applied to each said main drive link.
  • the sum of the magnitudes of the torques applied to the first main drive link, the second main drive link, and the auxiliary drive link is the first main drive link and the second main drive link.
  • torque When torque is applied only to the drive link, it may be less than the sum of the magnitudes of the torques to be applied to each main drive link.
  • the third main drive link connected to the distal end of the second main drive link to be rotatable about an axis parallel to the rotation axis of the first main drive link;
  • a second auxiliary drive link connected to the first main drive link so as to be rotatable about an axis parallel to the rotation axis of the first main drive link;
  • a second transmission link having one end connected to the distal end of the second auxiliary drive link and the other end connected to the third main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link. It may include.
  • the first main drive link and the first auxiliary drive link may be connected to different positions of the body, respectively.
  • the distal end of the first transfer link may be connected to a protrusion extending from the second drive link.
  • Walking robot apparatus for solving the above problems may include a robot lower body having one or more of the characteristics of the above-described robot lower body.
  • the auxiliary drive link is connected in parallel to the main drive link required for the joint motion to distribute the load to the main actuator for the rotation of the main drive link to a low performance actuator having a relatively small size
  • the walk operation can be performed, and the ease of control can be ensured by first calculating calculations and constraints considering only the main drive link, and then sequentially calculating calculations for the auxiliary drive link.
  • FIG. 1 is a schematic conceptual diagram of a walking robot apparatus according to an embodiment of the present invention.
  • FIG. 2 is a schematic side view of the walking robot apparatus of FIG. 1.
  • FIG. 3 is a configuration diagram of a control device of the walking robot apparatus of FIG. 1.
  • FIG. 4 is a schematic side view of the walking robot apparatus of FIG. 1.
  • a walking robot apparatus 10 includes a body 100 and a lower body 200.
  • the walking robot device 10 includes left and right legs and moves by operation of the lower body 200 connected to the lower portion of the body 100.
  • Only main driving links among the links are shown in FIG. 1 for convenience of understanding.
  • the X axis of the Cartesian coordinate system shown in FIG. 1 is the same as the forward direction of the walking robot device 10 and is a reference axis of the roll ('roll axis'), and the Y axis is the X axis on the horizontal plane on which the walking robot device 10 walks.
  • the axis perpendicular to the pitch is the reference axis of the pitch ('pitch axis'), and the Z axis is the reference axis of the yaw perpendicular to the X and Y axes (the yaw axis).
  • the lower body 200 includes a first main drive link 210, a second main drive link 220, and a third main drive link 230.
  • first main drive link 210 a first main drive link 210
  • second main drive link 220 a second main drive link 220
  • third main drive link 230 a third main drive link 230
  • the first main drive link 210 has a body 100 to have three degrees of freedom by the first joint 201 including the first roll shaft 201a, the first pitch shaft 201b and the first yaw shaft 201c.
  • the second main drive link 220 is connected to the first main drive link 210 to have one degree of freedom by the second joint 202 including the second pitch axis 202b.
  • the third main drive link 230 is connected to the second main drive link 220 to have two degrees of freedom by a third joint 203 including a third roll axis 203a and a third pitch axis 203b.
  • the degrees of freedom for the other joints other than the pitch axis in the above-described joints are exemplary and may have various degrees of freedom.
  • the first main drive link 210 is rotatably connected to the body 100 with respect to the first joint 201 corresponding to the hip joint.
  • the first main drive link 210 may rotate about the first pitch axis 201b as shown in FIG. 1 to perform an operation of the thigh for walking.
  • the first main drive link 210 may rotate by receiving torque from the first main actuator 211.
  • the first main actuator 211 may apply torque to the first main drive link 210 to fix or move the first main drive link 210 at an arbitrary position and angle with respect to the body 100.
  • the second main drive link 220 is connected to the distal end of the first main drive link 210 rotatably with respect to the second joint 202 corresponding to the knee joint.
  • the second main drive link 220 may rotate about the second pitch axis 202b as shown in FIG. 1 to perform an operation of the lower part for walking.
  • the second main drive link 220 may rotate by receiving torque from the second main actuator 221.
  • the second main actuator 221 applies torque to the second main drive link 220 to fix or move the second main drive link 220 at an arbitrary position and angle with respect to the first main drive link 210. You can.
  • the third main drive link 230 is connected to the distal end of the second main drive link 220 rotatably with respect to the third joint 203 corresponding to the ankle joint.
  • the third main drive link 230 may rotate about the third pitch axis 203b as shown in FIG. 1 to perform an operation of the foot for walking.
  • the third main drive link 230 may rotate by receiving torque from the third main actuator 231.
  • the third main actuator 231 applies torque to the third main drive link 230 to fix or move the third main drive link 230 at an arbitrary position and angle with respect to the second main drive link 220. You can.
  • the first main drive link 210 and the second main drive link 220 additionally receive torque from the first auxiliary driver 240.
  • the first auxiliary drive unit 240 includes a first auxiliary drive link 241, a first transmission link 242, and a first auxiliary actuator 243.
  • the first auxiliary drive link 241 is rotatably connected to the body 100.
  • the first auxiliary drive link 241 may be rotatably connected to the pitch axis at a different position from the first joint 201.
  • the position at which the first auxiliary drive link 241 is connected to the body 100 may be appropriately determined in consideration of the length and the rotation range of the links.
  • the first transmission link 242 is pivotally connected to the distal end of the first auxiliary drive link 241.
  • the first transmission link 242 and the first auxiliary drive link 241 are rotated with respect to the pitch axis, respectively. Possibly connected.
  • the distal end of the first transfer link 242 is pivotally connected to the second main drive link 220.
  • the first transmission link 242 and the second main drive link 220 are rotated with respect to the pitch axis, respectively. Possibly connected.
  • the first transmission link 242 can be rotatably connected to the protrusion 222 extending from the second main drive link 220.
  • the extension length, direction, etc. of the protrusion 222 may be appropriately selected according to the length of the links, the rotation range, and the like.
  • the first transmission link 242 can be connected between both ends of the second main drive link 220.
  • the position at which the first transmission joint 245 to which the second main drive link 220 and the first transmission link 242 are connected to each other is formed on the second main drive link 220 takes into account the length and rotation range of the links. Can be appropriately selected.
  • the first transfer joint 245 may be disposed in the center of the second main drive link 220.
  • the position of the first transmission joint 245 during walking is determined according to the arrangement of the first main drive link 210 and the second main drive link 220. Meanwhile, a part of the body 100, a first main drive link 210, a part of the second main drive link 220, a first auxiliary drive link 241, and a first transmission link 242 are provided. Since one closed loop is formed, the position of the first transmission joint 245 can also be determined by the placement of the first auxiliary drive link 241 and the first transmission link 242. The position of the first transmission joint 245 determined by the first main drive link 210 and the second main drive link 220 and the position of the first auxiliary drive link 241 and the first transmission link 242. Since the positions of the first transfer joints 245 are the same, the relative motion of each link may be calculated together in consideration of such constraints.
  • the rotational angle of the second main drive link 220 with respect to the first transmission joint 245 is a rotational angle of the first main drive link 210 with respect to the body 100 and the rotational angle with respect to the first main drive link 210. It is determined by the rotation angle of the two main drive links 220.
  • the rotational angle of the first transmission link 242 relative to the first transmission joint 245 is the rotational angle of the first auxiliary drive link 241 relative to the body 100 and the first angle relative to the first auxiliary drive link 241.
  • the rotation angle of the transmission link 242 is determined.
  • This constraint is such that the difference between the rotational angle of the second main drive link 220 with respect to the first transmission link 242 and the rotational angle of the second main drive link 220 with respect to the first main drive link 210 is constant. Considering the conditions, the relative motion of each link can be calculated together.
  • the movable range of the first transfer joint 245 on the second main drive link 220 is the first transfer link 242. It may be included in the movable range of the first delivery joint 245 of the image.
  • the length and the connecting position of each of the first auxiliary drive link 241 and the first transmission link 242 are such that the movable range of the distal end of the first transmission link 242 is the movable range of the main drive links 210 and 220. Can be determined to include.
  • the range of movement of the second main drive link 220 is not limited due to the connection of the first transmission link 242.
  • the first auxiliary drive link 241 may rotate by receiving torque from the first auxiliary actuator 243.
  • the first main drive link 210, the second main drive link 220, and the first auxiliary drive link 241 receive torque from the connected actuators 211, 221, and 243, respectively, at arbitrary positions and rotations. Fixed or moved at an angle.
  • the position and the rotation angle of the first transmission link 242 are naturally determined, and the second main drive link 220 receives torque from the first auxiliary actuator 243 received from the first auxiliary drive link 241. To pass. That is, the first transmission link 242 receives the torque by the first auxiliary actuator 243 according to the arrangement of the first main drive link 210 and the second main drive link 220. To pass on.
  • part of the body 100, the first main drive link 210, the part of the second main drive link 220, the first auxiliary drive link 241, and the first transmission link 242. Is connected in parallel to form one closed loop, reducing the amount of torque required for the first main actuator 211 and the second main actuator 221 by additional torque by the first auxiliary actuator 243. You can.
  • the second main drive link 220 and the third main drive link 230 additionally receive power from the second auxiliary driver 250.
  • the second auxiliary drive unit 250 includes a second auxiliary drive link 251, a second transmission link 252, and a second auxiliary actuator 253.
  • the second auxiliary drive link 251 is rotatably connected to the first main drive link 210.
  • the second auxiliary drive link 251 may be rotatably connected to the pitch axis at a position different from the first joint 201 and the second joint 202.
  • the position at which the second auxiliary drive link 251 is connected to the first main drive link 210 may be appropriately determined in consideration of the length and the rotation range of the links.
  • the second transmission link 252 is pivotally connected to the distal end of the second auxiliary drive link 242.
  • the first transmission link 252 and the second auxiliary drive link 251 are rotated with respect to the pitch axis, respectively. Possibly connected.
  • the distal end of the second transfer link 252 is rotatably connected to the third main drive link 230.
  • the second transmission link 252 and the third main drive link 230 are rotated with respect to the pitch axis, respectively. Possibly connected.
  • the second transmission link 252 may be rotatably connected to the protrusion 232 extending from the third main drive link 230.
  • the extension length, direction, etc. of the protrusion 232 may be appropriately selected according to the length of the links, the rotation range, and the like.
  • the position at which the second transmission joint 255 is formed on the third main drive link 230, in which the second transmission link 252 is connected to the third main drive link 230, takes into account the length and rotation range of the links. Can be appropriately selected.
  • the second transfer joint 255 may be disposed at an intermediate height of the third main drive link 220.
  • the position of the second transmission joint 255 during walking is determined according to the arrangement of the first main drive link 210, the second main drive link 220, and the third main drive link 230. Meanwhile, a part of the first main drive link 210, a second main drive link 220, a part of the third main drive link 230, a second auxiliary drive link 251, and a second transmission link Since 252 forms one closed loop, the position of the second transmission joint 255 may also be determined by the placement of the second auxiliary drive link 251 and the second transmission link 252. The position of the second transmission joint 255 and the second auxiliary drive link 251 and the first determined by the first main drive link 210, the second main drive link 220 and the third main drive link 230. Since the positions of the second transmission joints 255 determined by the second transmission links 252 are the same, the relative motion of each link may be calculated together in consideration of such constraints.
  • the rotational angle of the third main drive link 230 with respect to the second transmission joint 255 is a rotational angle of the first main drive link 210 with respect to the body 100, the first rotational angle with respect to the first main drive link 210.
  • the rotation angle of the second main drive link 220 and the rotation angle of the third main drive link 230 with respect to the second main drive link 220 are determined.
  • the rotation angle of the second transmission link 252 with respect to the second transmission joint 255 is the rotation angle of the second auxiliary drive link 251 with respect to the first main drive link 210 and the second auxiliary drive link 251. Is determined by the rotational angle of the second transmission link 252 relative to.
  • This constraint condition is constant because the angle of rotation of the third main drive link 230 with respect to the second transmission link 252 and the rotation angle of the third main drive link 230 with respect to the second main drive link 220 are constant. Considering this, the relative motion of each link can be calculated together.
  • the movable range of the second transfer joint 255 on the third main drive link 230 is the second transfer link 252. It may be included in the movable range of the second delivery joint 255 of the image.
  • the length and the connecting position of each of the second auxiliary drive link 251 and the second transmission link 252 are such that the movable range of the distal end of the second transmission link 252 is the movable range of the main drive links 220 and 230. Can be determined to include.
  • the moving range of the third main drive link 230 is not limited due to the connection of the second transmission link 252.
  • the second auxiliary drive link 251 may rotate by receiving torque from the second auxiliary actuator 253.
  • the second main drive link 220, the third main drive link 230, and the second auxiliary drive link 251 receive torque from the connected actuators 221, 231, and 253, respectively, at arbitrary positions and rotations. Fixed or moved at an angle.
  • the position and the rotation angle of the second transmission link 252 are naturally determined, and the third primary drive link 230 receives torque from the second auxiliary actuator 253 received from the second auxiliary drive link 251.
  • the second transmission link 252 receives the torque by the second auxiliary actuator 253 according to the arrangement of the second main drive link 220 and the third main drive link 230. To pass on.
  • the link 252 is connected in parallel to form one closed loop, the torque required for the second main actuator 221 and the third main actuator 231 as additional torque by the second auxiliary actuator 253. Can reduce the size.
  • the walking robot device 10 may include a control device 110 that controls the movement of the lower body 200.
  • the control device 110 includes a walking pattern generator 112, a controller 113, an actuator driver 114, a position / torque detector 116, a force / torque sensor 117, and a pose sensor 118. ) May be included.
  • the walking pattern generator 112 generates a walking pattern corresponding to a control factor for determining a desired walking direction, walking width, and walking speed of the walking robot device 10, and generates a phase signal of a frequency corresponding to the walking pattern. Generate. The generation of the walking pattern is generated in real time not only at the beginning of walking but also during walking.
  • the phase signal generated by the walking pattern generator 112 is a signal for driving the lower body 200 in various states.
  • the controller 113 controls the overall operation of the walking robot apparatus 10.
  • the walking pattern generator 112 is communicatively connected to an input side of the controller 113.
  • An actuator driver 114 for driving actuators is communicatively connected to the output side of the controller 113.
  • the controller 113 may calculate a torque to be applied through the actuator by using the above-described constraints on the position and angle relationship of the links.
  • the difference between the position calculated through the main drive links and the position calculated through the auxiliary drive on the closed loop composed of the main drive links and the auxiliary drive is constant, the rotation angle calculated through the main drive links and the rotation calculated through the auxiliary drive.
  • Set g as a condition that the difference in angle is constant.
  • Equation 1 ego, to be.
  • Equation 2 ⁇ u represents the operating torque for q u , ⁇ r represents the total operating torque. ⁇ u can be appropriately dispersed by ⁇ r by ⁇ T.
  • the auxiliary drive links are considered in consideration of the calculated torque.
  • the torque to be applied to 241 and 251 may be calculated.
  • the gait operation of the gait robot device 10 may be performed to be smaller.
  • the position / torque detector 116 may detect the position and torque of each joint.
  • the position / torque detection unit 116 may provide the detected position / torque information to the walking pattern generation unit 112.
  • the walking pattern generator 112 may reflect position / torque information in the walking pattern generation.
  • the position / torque detection unit 116 provides the position / torque information to the control unit 113.
  • the controller 113 may calculate a numerical value required for overall control of the walking robot apparatus based on the provided position / torque information.
  • the walking pattern generator 112 also reflects posture information provided through the pose sensor 118 and moment information provided through the force / torque sensor 117 to the walking pattern generation.
  • the force / torque sensor 117 may be disposed in the third main drive link 230 to measure a force and a moment transmitted to the third main drive link 230 to detect landing and a load.
  • the pose sensor 118 detects an inclination angle of the body 100 with respect to the vertical axis, its angular velocity, and the like to generate posture information.
  • the walking robot device may be remotely controlled by a control device provided separately from the outside.
  • the auxiliary drive link is connected in parallel to the main drive link required for the joint motion to distribute the load to the main actuator for the rotation of the main drive link to a low performance actuator having a relatively small size
  • the walk operation can be performed, and the ease of control can be ensured by first calculating calculations and constraints considering only the main drive link, and then sequentially calculating calculations for the auxiliary drive link.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A walking robot device comprises a robot lower body comprising: a first main drive link rotatably connected to a body; a second main drive link rotatably connected to an end of the first main drive link; an auxiliary drive link rotatably connected to the body; and a transmission link rotatably connected to an end of the auxiliary drive link and the second main drive link, wherein a range allowing movement of a position on the second main drive link, to which the transmission link is connected, is included in a range allowing movement of the other end portion of the transmission link and, when a torque is applied to only the first main drive link and the second main drive link, a torque applied to the auxiliary drive link is determined in consideration of a torque to be applied to each of the main drive links.

Description

병렬식 링크 구조를 포함하는 로봇 하체, 이를 포함하는 보행 로봇 장치 Robot lower body including parallel link structure, walking robot device comprising the same
본 발명은 로봇의 하체 및 이를 포함하는 보행 로봇 장치에 관한 것으로서, 보다 상세하게는 복수의 링크 구조로써 보행 동작을 수행하는 로봇 하체 및 이를 포함하는 보행 로봇 장치에 관한 것이다.The present invention relates to a lower body of a robot and a walking robot device including the same, and more particularly, to a lower body of a robot performing a walking operation with a plurality of link structures and a walking robot device including the same.
인간의 관절 구조와 유사한 관절 구조를 가져 다양한 임무를 수행하는 로봇 장치가 활발하게 개발되고 있다. 특히, 인간의 보행 동작과 유사하게 보행할 수 있는 2족 보행 로봇에 대한 연구가 상당히 진행되었다.Robotic devices that perform various tasks with joint structures similar to those of human joints have been actively developed. In particular, there has been considerable research on biped walking robots that can walk similarly to human walking motions.
2족 보행 로봇의 하체에는 복수의 링크가 직렬로 연결되는 직렬형 링크 구조 및 복수의 링크가 병렬로 연결되는 병렬형 링크 구조가 적용되고 있다. 이들 중 통상적으로 6자유도를 가지는 직렬형 링크 구조가 사용되고 있다.In the lower body of the biped walking robot, a serial link structure in which a plurality of links are connected in series and a parallel link structure in which a plurality of links are connected in parallel are applied. Among them, a serial link structure having six degrees of freedom is usually used.
한편, 각각의 조인트에 대해 링크를 회전시키기 위하여 토크를 생성하는 액추에이터는 조인트 상에 배치되거나 다른 위치에 배치된다. 각각의 조인트에 액추에이터가 배치되는 경우, 해당 조인트에 연결된 링크를 회동시킬 때 링크가 회전할 각도 및 그에 필요한 토크를 직접적으로 계산할 수 있어 제어 상의 용이성을 가질 수 있으나, 관절 구조가 다수의 링크가 직렬로 길게 연결될 경우에는 액추에이터 자체 하중으로 인해 추가되는 토크의 크기가 급격히 증가하게 된다.On the other hand, an actuator that generates torque to rotate the link for each joint is disposed on the joint or at another position. When an actuator is disposed at each joint, the angle of rotation of the link and the required torque can be directly calculated when the link connected to the joint is rotated, so that control can be easily performed. In the case of a long connection, the amount of torque added is drastically increased due to the actuator's own load.
이와 같이, 직렬 링크 구조는 몸체부와 가까운 곳에 설치된 링크일수록 말단부 링크로부터 누적된 하중이 모두 작용하므로, 몸체부와 가까운 링크일수록 강성을 증가시키기 위해 링크가 대형화되고, 부하의 증가로 인해 고성능의 액추에이터의 사용이 요구됨에 따라 액추에이터 자체 하중이 증가하는 문제점이 있다.In this way, since the serial link structure has all the load accumulated from the distal link as the link is installed closer to the body portion, the link is enlarged to increase the rigidity at the link closer to the body portion, and the high performance actuator due to the increase in load. There is a problem in that the load of the actuator itself increases as the use of.
이러한 문제점을 해결하기 위하여, 수동 기계 요소로서 예를 들면 스프링들을 이용하여 보행 동작에 대한 최적 설계를 수행함으로써 액추에이터의 수량을 줄이거나 액추에이터의 하중을 줄이는 방법이 개발되었다.In order to solve this problem, a method of reducing the number of actuators or reducing the load of the actuator has been developed by performing an optimal design for walking motion using, for example, springs as a manual mechanical element.
그러나, 이러한 방법들은 특정 동작에 대해서 최적 설계가 수행됨에 따라, 해당 동작에 국한되어 전술한 문제점을 보완할 수 있을 뿐, 다른 동작들의 경우에 있어서는 오히려 액추에이터의 하중을 증가시키거나, 애초에 다른 동작의 수행이 불가능한 문제점을 수반한다.However, these methods can only solve the above-mentioned problems limited to the operation as the optimum design is performed for the specific operation, and in the case of other operations, rather increase the load of the actuator, It involves a problem that is impossible to implement.
따라서, 구조의 단순성 및 제어의 용이성을 잃지 않으면서 액추에이터에 대한 최대 부하를 줄일 수 있는 보행 로봇 장치가 요구된다.Therefore, there is a need for a walking robotic device capable of reducing the maximum load on the actuator without losing the simplicity of the structure and the ease of control.
본 발명은 전술한 보행 로봇 장치의 문제점을 해결하기 위하여 안출된 것으로서, 하나의 주 구동 링크 양단의 각각의 조인트에 연결된 링크 또는 몸체에 보조 구동 링크가 회동 가능하게 병렬로 연결됨으로써 주 구동 링크를 회동하는데 요구되는 토크를 분산시킬 수 있으며, 주 구동 링크의 운동을 위한 계산과 그에 따른 주 구동 링크의 위치 및 각도에 대한 제한 조건에 기초하여 보조 구동 링크의 운동을 순차적으로 계산할 수 있는 로봇의 하체 및 이를 포함하는 보행 로봇 장치를 제공하는데 목적이 있다.The present invention has been made to solve the above-mentioned problems of the walking robot device, and the main drive link is rotated by the auxiliary drive link rotatably connected in parallel to the link or the body connected to each joint of one main drive link. The lower body of the robot capable of distributing the torque required to calculate the motion of the auxiliary drive link, based on the calculation for the motion of the main drive link and the constraints on the position and angle of the main drive link. An object of the present invention is to provide a walking robot device including the same.
본 발명의 과제는 이상에서 언급한 과제로 제한되지 않으며, 언급되지 않은 또 다른 과제들은 아래의 기재로부터 당업자에게 명확하게 이해될 수 있을 것이다.The objects of the present invention are not limited to the above-mentioned objects, and other objects that are not mentioned will be clearly understood by those skilled in the art from the following description.
상기 과제를 해결하기 위한 본 발명의 일 실시예에 따른 로봇 하체는 몸체와 회동 가능하게 연결되는 제1 주 구동 링크; 상기 제1 주 구동 링크의 회동축과 평행한 축에 대해 회동 가능하도록 상기 제1 주 구동 링크의 말단과 연결되는 제2 주 구동 링크; 상기 제1 주 구동 링크의 회동축과 평행한 축에 대해 회동 가능하도록 상기 몸체와 연결되는 제1 보조 구동 링크; 및 상기 제1 주 구동 링크의 회동축과 평행한 축에 대해 회동 가능하도록 일단부가 상기 제1 보조 구동 링크의 말단과 연결되고 타단부가 상기 제2 주 구동 링크와 연결되는 제1 전달 링크를 포함하며, 상기 전달 링크가 연결되는 상기 주 구동 링크 상의 위치의 이동 가능 범위는 상기 전달 링크의 타단부의 이동 가능 범위에 포함되고, 상기 보조 구동 링크에 인가되는 토크는, 상기 주 구동 링크들에만 토크가 인가되는 경우 각각의 상기 주 구동 링크에 인가될 토크를 고려하여 결정된다.Robot lower body according to an embodiment of the present invention for solving the above problems is the first main drive link is rotatably connected to the body; A second main drive link connected to the distal end of the first main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link; A first auxiliary drive link connected to the body so as to be rotatable about an axis parallel to the rotation axis of the first main drive link; And a first transmission link having one end connected to an end of the first auxiliary drive link and the other end connected to the second main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link. The movable range of the position on the main drive link to which the transmission link is connected is included in the movable range of the other end of the transmission link, and the torque applied to the auxiliary drive link is torque only to the main drive links. Is determined in consideration of the torque to be applied to each said main drive link.
본 발명의 일 실시예에 따르면, 상기 제1 주 구동 링크와, 상기 제2 주 구동 링크와, 상기 보조 구동 링크에 인가되는 토크의 크기의 합은, 상기 제1 주 구동 링크 및 상기 제2 주 구동 링크에만 토크가 인가될 경우에 각각의 주 구동 링크에 인가될 토크의 크기의 합보다 작을 수 있다.According to an embodiment of the present invention, the sum of the magnitudes of the torques applied to the first main drive link, the second main drive link, and the auxiliary drive link is the first main drive link and the second main drive link. When torque is applied only to the drive link, it may be less than the sum of the magnitudes of the torques to be applied to each main drive link.
본 발명의 일 실시예에 따르면, 상기 제1 주 구동 링크의 회동축과 평행한 축에 대해 회동 가능하도록 상기 제2 주 구동 링크의 말단과 연결되는 제3 주 구동 링크; 상기 제1 주 구동 링크의 회동축과 평행한 축에 대해 회동 가능하도록 상기 제1 주 구동 링크와 연결되는 제2 보조 구동 링크; 및 상기 제1 주 구동 링크의 회동축과 평행한 축에 대해 회동 가능하도록 일단부가 상기 제2 보조 구동 링크의 말단과 연결되고 타단부가 상기 제3 주 구동 링크와 연결되는 제2 전달 링크를 더 포함할 수 있다.According to one embodiment of the invention, the third main drive link connected to the distal end of the second main drive link to be rotatable about an axis parallel to the rotation axis of the first main drive link; A second auxiliary drive link connected to the first main drive link so as to be rotatable about an axis parallel to the rotation axis of the first main drive link; And a second transmission link having one end connected to the distal end of the second auxiliary drive link and the other end connected to the third main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link. It may include.
본 발명의 일 실시예에 따르면, 상기 제1 주 구동 링크 및 제1 보조 구동 링크는 각각 상기 몸체의 다른 위치에 연결될 수 있다.According to an embodiment of the present invention, the first main drive link and the first auxiliary drive link may be connected to different positions of the body, respectively.
본 발명의 일 실시예에 따르면, 상기 제1 전달 링크의 말단은 상기 제2 구동 링크로부터 연장 형성된 돌출부에 연결될 수 있다.According to one embodiment of the invention, the distal end of the first transfer link may be connected to a protrusion extending from the second drive link.
상기 과제를 해결하기 위한 본 발명의 다른 실시예에 따른 보행 로봇 장치는 전술한 로봇 하체의 특징 중 하나 이상의 특징을 가지는 로봇 하체를 포함할 수 있다.Walking robot apparatus according to another embodiment of the present invention for solving the above problems may include a robot lower body having one or more of the characteristics of the above-described robot lower body.
본 발명에 의하면, 관절 운동에 필요한 주 구동 링크에 대해 보조 구동 링크가 병렬로 연결됨으로써 주 구동 링크의 회전을 위한 주 액추에이터에 대한 부하를 분산시킬 수 있어 상대적으로 작은 크기를 가지는 낮은 성능의 액추에이터로도 보행 동작을 수행할 수 있으며, 주 구동 링크만을 고려한 계산 및 제한 조건을 먼저 설정한 후 보조 구동 링크에 대한 계산을 순차적으로 계산함으로써 제어의 용이성을 보장할 수 있다.According to the present invention, the auxiliary drive link is connected in parallel to the main drive link required for the joint motion to distribute the load to the main actuator for the rotation of the main drive link to a low performance actuator having a relatively small size The walk operation can be performed, and the ease of control can be ensured by first calculating calculations and constraints considering only the main drive link, and then sequentially calculating calculations for the auxiliary drive link.
도 1은 본 발명의 일 실시예에 따른 보행 로봇 장치의 개략적인 개념도이다.1 is a schematic conceptual diagram of a walking robot apparatus according to an embodiment of the present invention.
도 2는 도 1의 보행 로봇 장치의 개략적인 측면도이다.FIG. 2 is a schematic side view of the walking robot apparatus of FIG. 1.
도 3은 도 1의 보행 로봇 장치의 제어 장치의 구성도이다.3 is a configuration diagram of a control device of the walking robot apparatus of FIG. 1.
도 4는 도 1의 보행 로봇 장치의 개략적인 측면도이다.4 is a schematic side view of the walking robot apparatus of FIG. 1.
이하에서는 본 발명의 일 실시예에 따른 보행 로봇 장치에 대하여 설명하도록 한다.Hereinafter, a walking robot device according to an embodiment of the present invention will be described.
도 1을 참조하면, 본 발명의 일 실시예에 따른 보행 로봇 장치(10)는 몸체(100)와, 하체(200)를 포함한다. 보행 로봇 장치(10)는 좌우측 다리를 포함하며 몸체(100)의 하부에 연결되는 하체(200)의 작동에 의해 이동한다. 참고로, 이해의 편의를 위해 도 1에서는 링크들 중에서 주 구동 링크들만이 도시되었다는 점에 유의해야 한다.Referring to FIG. 1, a walking robot apparatus 10 according to an embodiment of the present invention includes a body 100 and a lower body 200. The walking robot device 10 includes left and right legs and moves by operation of the lower body 200 connected to the lower portion of the body 100. For reference, it should be noted that only main driving links among the links are shown in FIG. 1 for convenience of understanding.
도 1에 도시된 직교좌표계의 X축은 보행 로봇 장치(10)의 전진 방향과 같고 롤(Roll)의 기준축('롤축')이고, Y축은 보행 로봇 장치(10)가 보행하는 수평면 상에서 X축과 수직한 축으로 피치(Pitch)의 기준축('피치축')이며, Z축은 X축 및 Y축에 수직한 요(Yaw)의 기준축('요축')이다.The X axis of the Cartesian coordinate system shown in FIG. 1 is the same as the forward direction of the walking robot device 10 and is a reference axis of the roll ('roll axis'), and the Y axis is the X axis on the horizontal plane on which the walking robot device 10 walks. The axis perpendicular to the pitch is the reference axis of the pitch ('pitch axis'), and the Z axis is the reference axis of the yaw perpendicular to the X and Y axes (the yaw axis).
하체(200)는 제1 주 구동 링크(210)와, 제2 주 구동 링크(220)와, 제3 주 구동 링크(230)를 포함한다. 이하에서는 하나의 다리 구조에 대하여 설명되나, 하체(200)가 둘 이상의 다리를 포함할 수 있다는 점이 유의되어야 한다.The lower body 200 includes a first main drive link 210, a second main drive link 220, and a third main drive link 230. Hereinafter, one leg structure will be described, but it should be noted that the lower body 200 may include two or more legs.
제1 주 구동 링크(210)는 제1 롤축(201a), 제1 피치축(201b) 및 제1 요축(201c)을 포함하는 제1 관절(201)에 의해 3자유도를 가지도록 몸체(100)와 연결된다. 제2 주 구동 링크(220)는 제2 피치축(202b)을 포함하는 제2 관절(202)에 의해 1자유도를 가지도록 제1 주 구동 링크(210)와 연결된다. 제3 주 구동 링크(230)는 제3 롤축(203a) 및 제3 피치축(203b)을 포함하는 제3 관절(203)에 의해 2자유도를 가지도록 제2 주 구동 링크(220)와 연결된다. 한편, 전술한 각 관절에서 피치축 외의 다른 방향에 대한 자유도는 예시적인 것이며, 그밖에 다양한 자유도를 가질 수 있다는 점이 이해되어야 할 것이다.The first main drive link 210 has a body 100 to have three degrees of freedom by the first joint 201 including the first roll shaft 201a, the first pitch shaft 201b and the first yaw shaft 201c. Connected with The second main drive link 220 is connected to the first main drive link 210 to have one degree of freedom by the second joint 202 including the second pitch axis 202b. The third main drive link 230 is connected to the second main drive link 220 to have two degrees of freedom by a third joint 203 including a third roll axis 203a and a third pitch axis 203b. . On the other hand, it is to be understood that the degrees of freedom for the other joints other than the pitch axis in the above-described joints are exemplary and may have various degrees of freedom.
이하의 구체적인 설명에서는 각 관절(201, 202, 203)의 피치축에 대한 운동에 관하여 도 2를 참조하여 설명하도록 한다.In the following detailed description, the motion about the pitch axis of each of the joints 201, 202, and 203 will be described with reference to FIG.
제1 주 구동 링크(210)는 고관절에 대응하는 제1 관절(201)에 대해 회동 가능하게 몸체(100)에 연결된다. 제1 주 구동 링크(210)는 도 1에 도시된 바와 같은 제1 피치축(201b)에 대해 회동하여 보행을 위한 대퇴부의 동작을 수행할 수 있다.The first main drive link 210 is rotatably connected to the body 100 with respect to the first joint 201 corresponding to the hip joint. The first main drive link 210 may rotate about the first pitch axis 201b as shown in FIG. 1 to perform an operation of the thigh for walking.
제1 주 구동 링크(210)는 제1 주 액추에이터(211)로부터 토크를 전달 받아 회동할 수 있다. 제1 주 액추에이터(211)는 제1 주 구동 링크(210)에 토크를 인가하여 몸체(100)에 대해 제1 주 구동 링크(210)를 임의의 위치 및 각도로 고정시키거나 이동시킬 수 있다.The first main drive link 210 may rotate by receiving torque from the first main actuator 211. The first main actuator 211 may apply torque to the first main drive link 210 to fix or move the first main drive link 210 at an arbitrary position and angle with respect to the body 100.
제2 주 구동 링크(220)는 무릎 관절에 대응하는 제2 관절(202)에 대해 회동 가능하게 제1 주 구동 링크(210)의 말단에 연결된다. 제2 주 구동 링크(220)는 도 1에 도시된 바와 같은 제2 피치축(202b)에 대해 회동하여 보행을 위한 하퇴부의 동작을 수행할 수 있다.The second main drive link 220 is connected to the distal end of the first main drive link 210 rotatably with respect to the second joint 202 corresponding to the knee joint. The second main drive link 220 may rotate about the second pitch axis 202b as shown in FIG. 1 to perform an operation of the lower part for walking.
제2 주 구동 링크(220)는 제2 주 액추에이터(221)로부터 토크를 전달 받아 회동할 수 있다. 제2 주 액추에이터(221)는 제2 주 구동 링크(220)에 토크를 인가하여 제1 주 구동 링크(210)에 대해 제2 주 구동 링크(220)를 임의의 위치 및 각도로 고정시키거나 이동시킬 수 있다.The second main drive link 220 may rotate by receiving torque from the second main actuator 221. The second main actuator 221 applies torque to the second main drive link 220 to fix or move the second main drive link 220 at an arbitrary position and angle with respect to the first main drive link 210. You can.
제3 주 구동 링크(230)는 발목 관절에 대응하는 제3 관절(203)에 대해 회동 가능하게 제2 주 구동 링크(220)의 말단에 연결된다. 제3 주 구동 링크(230)는 도 1에 도시된 바와 같은 제3 피치축(203b)에 대해 회동하여 보행을 위한 발의 동작을 수행할 수 있다.The third main drive link 230 is connected to the distal end of the second main drive link 220 rotatably with respect to the third joint 203 corresponding to the ankle joint. The third main drive link 230 may rotate about the third pitch axis 203b as shown in FIG. 1 to perform an operation of the foot for walking.
제3 주 구동 링크(230)는 제3 주 액추에이터(231)로부터 토크를 전달 받아 회동할 수 있다. 제3 주 액추에이터(231)는 제3 주 구동 링크(230)에 토크를 인가하여 제2 주 구동 링크(220)에 대해 제3 주 구동 링크(230)를 임의의 위치 및 각도로 고정시키거나 이동시킬 수 있다.The third main drive link 230 may rotate by receiving torque from the third main actuator 231. The third main actuator 231 applies torque to the third main drive link 230 to fix or move the third main drive link 230 at an arbitrary position and angle with respect to the second main drive link 220. You can.
제1 주 구동 링크(210) 및 제2 주 구동 링크(220)는 제1 보조 구동부(240)로부터 추가적으로 토크를 전달 받는다. 제1 보조 구동부(240)는 제1 보조 구동 링크(241)와, 제1 전달 링크(242)와, 제1 보조 액추에이터(243)를 포함한다.The first main drive link 210 and the second main drive link 220 additionally receive torque from the first auxiliary driver 240. The first auxiliary drive unit 240 includes a first auxiliary drive link 241, a first transmission link 242, and a first auxiliary actuator 243.
제1 보조 구동 링크(241)는 몸체(100)에 회동 가능하게 연결된다. 제1 보조 구동 링크(241)는 제1 관절(201)과 상이한 위치에서 피치축에 대해 회동 가능하게 연결될 수 있다. 제1 보조 구동 링크(241)가 몸체(100)에 연결되는 위치는 링크들의 길이 및 회전 범위를 고려하여 적절하게 결정될 수 있다.The first auxiliary drive link 241 is rotatably connected to the body 100. The first auxiliary drive link 241 may be rotatably connected to the pitch axis at a different position from the first joint 201. The position at which the first auxiliary drive link 241 is connected to the body 100 may be appropriately determined in consideration of the length and the rotation range of the links.
제1 전달 링크(242)는 제1 보조 구동 링크(241)의 말단에 회동 가능하게 연결된다. 제1 전달 링크(242)와 제1 보조 구동 링크(241)가 연결되는 제1 보조 관절(244)에서 제1 전달 링크(242)와 제1 보조 구동 링크(241)는 각각 피치축에 대해 회동 가능하게 연결된다.The first transmission link 242 is pivotally connected to the distal end of the first auxiliary drive link 241. In the first auxiliary joint 244 to which the first transmission link 242 and the first auxiliary drive link 241 are connected, the first transmission link 242 and the first auxiliary drive link 241 are rotated with respect to the pitch axis, respectively. Possibly connected.
제1 전달 링크(242)의 말단은 제2 주 구동 링크(220)와 회동 가능하게 연결된다. 제1 전달 링크(242)와 제2 주 구동 링크(220)가 연결되는 제1 전달 관절(245)에서 제1 전달 링크(242)와 제2 주 구동 링크(220)는 각각 피치축에 대해 회동 가능하게 연결된다.The distal end of the first transfer link 242 is pivotally connected to the second main drive link 220. In the first transmission joint 245 to which the first transmission link 242 and the second main drive link 220 are connected, the first transmission link 242 and the second main drive link 220 are rotated with respect to the pitch axis, respectively. Possibly connected.
제1 전달 링크(242)는 제2 주 구동 링크(220)로부터 연장되는 돌출부(222)에 회동 가능하게 연결될 수 있다. 돌출부(222)의 연장 길이, 방향 등은 링크들의 길이, 회전 범위 등에 따라 적절하게 선정될 수 있다.The first transmission link 242 can be rotatably connected to the protrusion 222 extending from the second main drive link 220. The extension length, direction, etc. of the protrusion 222 may be appropriately selected according to the length of the links, the rotation range, and the like.
제1 전달 링크(242)는 제2 주 구동 링크(220)의 양 단부 사이에 연결될 수 있다. 제2 주 구동 링크(220) 및 제1 전달 링크(242)가 서로 연결되는 제1 전달 관절(245)이 제2 주 구동 링크(220) 상에 형성되는 위치는 링크들의 길이 및 회전 범위를 고려하여 적절하게 선정될 수 있다. 예를 들면, 제1 전달 관절(245)은 제2 주 구동 링크(220)의 중앙에 배치될 수 있다.The first transmission link 242 can be connected between both ends of the second main drive link 220. The position at which the first transmission joint 245 to which the second main drive link 220 and the first transmission link 242 are connected to each other is formed on the second main drive link 220 takes into account the length and rotation range of the links. Can be appropriately selected. For example, the first transfer joint 245 may be disposed in the center of the second main drive link 220.
보행 중 제1 전달 관절(245)의 위치는 제1 주 구동 링크(210) 및 제2 주 구동 링크(220)의 배치에 따라 결정된다. 한편, 몸체(100)의 일부와, 제1 주 구동 링크(210)와, 제2 주 구동 링크(220)의 일부와, 제1 보조 구동 링크(241)와, 제1 전달 링크(242)가 하나의 폐루프를 형성하므로, 제1 전달 관절(245)의 위치는 제1 보조 구동 링크(241) 및 제1 전달 링크(242)의 배치로도 결정될 수 있다. 제1 주 구동 링크(210) 및 제2 주 구동 링크(220)에 의해 결정되는 제1 전달 관절(245)의 위치와 제1 보조 구동 링크(241) 및 제1 전달 링크(242)에 의해 결정되는 제1 전달 관절(245)의 위치가 동일하므로, 이러한 구속 조건을 고려하여 각각의 링크의 상대적인 운동을 함께 산출할 수 있다.The position of the first transmission joint 245 during walking is determined according to the arrangement of the first main drive link 210 and the second main drive link 220. Meanwhile, a part of the body 100, a first main drive link 210, a part of the second main drive link 220, a first auxiliary drive link 241, and a first transmission link 242 are provided. Since one closed loop is formed, the position of the first transmission joint 245 can also be determined by the placement of the first auxiliary drive link 241 and the first transmission link 242. The position of the first transmission joint 245 determined by the first main drive link 210 and the second main drive link 220 and the position of the first auxiliary drive link 241 and the first transmission link 242. Since the positions of the first transfer joints 245 are the same, the relative motion of each link may be calculated together in consideration of such constraints.
제1 전달 관절(245)에 대한 제2 주 구동 링크(220)의 회전 각도는 몸체(100)에 대한 제1 주 구동 링크(210)의 회전 각도 및 제1 주 구동 링크(210)에 대한 제2 주 구동 링크(220)의 회전 각도로 결정된다. 제1 전달 관절(245)에 대한 제1 전달 링크(242)의 회전 각도는 몸체(100)에 대한 제1 보조 구동 링크(241)의 회전 각도 및 제1 보조 구동 링크(241)에 대한 제1 전달 링크(242)의 회전 각도로 결정된다. 제1 전달 링크(242)에 대한 제2 주 구동 링크(220)의 회전 각도와 제1 주 구동 링크(210)에 대한 제2 주 구동 링크(220)의 회전 각도 간의 차이가 일정하므로, 이러한 구속 조건을 고려하여 각각의 링크의 상대적인 운동을 함께 산출할 수 있다.The rotational angle of the second main drive link 220 with respect to the first transmission joint 245 is a rotational angle of the first main drive link 210 with respect to the body 100 and the rotational angle with respect to the first main drive link 210. It is determined by the rotation angle of the two main drive links 220. The rotational angle of the first transmission link 242 relative to the first transmission joint 245 is the rotational angle of the first auxiliary drive link 241 relative to the body 100 and the first angle relative to the first auxiliary drive link 241. The rotation angle of the transmission link 242 is determined. This constraint is such that the difference between the rotational angle of the second main drive link 220 with respect to the first transmission link 242 and the rotational angle of the second main drive link 220 with respect to the first main drive link 210 is constant. Considering the conditions, the relative motion of each link can be calculated together.
제2 주 구동 링크(220)와 제1 전달 링크(242)가 분리된 상태에서, 제2 주 구동 링크(220) 상의 제1 전달 관절(245)의 이동 가능 범위는 제1 전달 링크(242) 상의 제1 전달 관절(245)의 이동 가능 범위에 포함될 수 있다. 제1 보조 구동 링크(241) 및 제1 전달 링크(242) 각각의 길이 및 연결 위치는 제1 전달 링크(242)의 말단의 이동 가능 범위가 주 구동 링크(210, 220)의 이동 가능 범위를 포함하도록 결정될 수 있다. 따라서, 제2 주 구동 링크(220)의 이동 범위는 제1 전달 링크(242)의 연결로 인해 제한되지 않는다.With the second main drive link 220 and the first transfer link 242 separated, the movable range of the first transfer joint 245 on the second main drive link 220 is the first transfer link 242. It may be included in the movable range of the first delivery joint 245 of the image. The length and the connecting position of each of the first auxiliary drive link 241 and the first transmission link 242 are such that the movable range of the distal end of the first transmission link 242 is the movable range of the main drive links 210 and 220. Can be determined to include. Thus, the range of movement of the second main drive link 220 is not limited due to the connection of the first transmission link 242.
제1 보조 구동 링크(241)는 제1 보조 액추에이터(243)로부터 토크를 전달 받아 회동할 수 있다. 제1 주 구동 링크(210)와, 제2 주 구동 링크(220)와, 제1 보조 구동 링크(241)는 각각 연결된 액추에이터들(211, 221, 243)로부터 토크를 전달 받아 임의의 위치 및 회전 각도로 고정되거나 이동한다.The first auxiliary drive link 241 may rotate by receiving torque from the first auxiliary actuator 243. The first main drive link 210, the second main drive link 220, and the first auxiliary drive link 241 receive torque from the connected actuators 211, 221, and 243, respectively, at arbitrary positions and rotations. Fixed or moved at an angle.
이로써, 제1 전달 링크(242)는 그 위치 및 회전 각도가 자연히 결정되며, 제1 보조 구동 링크(241)로부터 전달 받은 제1 보조 액추에이터(243)에 의한 토크를 제2 주 구동 링크(220)로 전달한다. 즉, 제1 전달 링크(242)는 제1 주 구동 링크(210)와 제2 주 구동 링크(220)의 배치에 따라 제1 보조 액추에이터(243)에 의한 토크를 제2 주 구동 링크(220)에 전달한다.Accordingly, the position and the rotation angle of the first transmission link 242 are naturally determined, and the second main drive link 220 receives torque from the first auxiliary actuator 243 received from the first auxiliary drive link 241. To pass. That is, the first transmission link 242 receives the torque by the first auxiliary actuator 243 according to the arrangement of the first main drive link 210 and the second main drive link 220. To pass on.
이와 같이, 몸체(100)의 일부와, 제1 주 구동 링크(210)와, 제2 주 구동 링크(220)의 일부와, 제1 보조 구동 링크(241)와, 제1 전달 링크(242)는 하나의 폐루프를 형성하도록 병렬식으로 연결됨에 따라, 제1 보조 액추에이터(243)에 의한 추가적인 토크로써 제1 주 액추에이터(211) 및 제2 주 액추에이터(221)에 요구되는 토크의 크기를 감소시킬 수 있다.Thus, part of the body 100, the first main drive link 210, the part of the second main drive link 220, the first auxiliary drive link 241, and the first transmission link 242. Is connected in parallel to form one closed loop, reducing the amount of torque required for the first main actuator 211 and the second main actuator 221 by additional torque by the first auxiliary actuator 243. You can.
제2 주 구동 링크(220) 및 제3 주 구동 링크(230)는 제2 보조 구동부(250)로부터 추가적으로 동력을 전달 받는다. 제2 보조 구동부(250)는 제2 보조 구동 링크(251)와, 제2 전달 링크(252)와, 제2 보조 액추에이터(253)를 포함한다.The second main drive link 220 and the third main drive link 230 additionally receive power from the second auxiliary driver 250. The second auxiliary drive unit 250 includes a second auxiliary drive link 251, a second transmission link 252, and a second auxiliary actuator 253.
제2 보조 구동 링크(251)는 제1 주 구동 링크(210)에 회동 가능하게 연결된다. 제2 보조 구동 링크(251)는 제1 관절(201) 및 제2 관절(202)과 상이한 위치에서 피치축에 대해 회동 가능하게 연결될 수 있다. 제2 보조 구동 링크(251)가 제1 주 구동 링크(210)에 연결되는 위치는 링크들의 길이 및 회전 범위를 고려하여 적절하게 결정될 수 있다.The second auxiliary drive link 251 is rotatably connected to the first main drive link 210. The second auxiliary drive link 251 may be rotatably connected to the pitch axis at a position different from the first joint 201 and the second joint 202. The position at which the second auxiliary drive link 251 is connected to the first main drive link 210 may be appropriately determined in consideration of the length and the rotation range of the links.
제2 전달 링크(252)는 제2 보조 구동 링크(242)의 말단에 회동 가능하게 연결된다. 제2 전달 링크(252)와 제2 보조 구동 링크(251)가 연결되는 제2 보조 관절(254)에서 제1 전달 링크(252)와 제2 보조 구동 링크(251)는 각각 피치축에 대해 회동 가능하게 연결된다.The second transmission link 252 is pivotally connected to the distal end of the second auxiliary drive link 242. In the second auxiliary joint 254 to which the second transmission link 252 and the second auxiliary drive link 251 are connected, the first transmission link 252 and the second auxiliary drive link 251 are rotated with respect to the pitch axis, respectively. Possibly connected.
제2 전달 링크(252)의 말단은 제3 주 구동 링크(230)와 회동 가능하게 연결된다. 제2 전달 링크(252)와 제3 주 구동 링크(230)가 연결되는 제2 전달 관절(255)에서 제2 전달 링크(252)와 제3 주 구동 링크(230)는 각각 피치축에 대해 회동 가능하게 연결된다.The distal end of the second transfer link 252 is rotatably connected to the third main drive link 230. In the second transmission joint 255 to which the second transmission link 252 and the third main drive link 230 are connected, the second transmission link 252 and the third main drive link 230 are rotated with respect to the pitch axis, respectively. Possibly connected.
제2 전달 링크(252)는 제3 주 구동 링크(230)로부터 연장되는 돌출부(232)에 회동 가능하게 연결될 수 있다. 돌출부(232)의 연장 길이, 방향 등은 링크들의 길이, 회전 범위 등에 따라 적절하게 선정될 수 있다.The second transmission link 252 may be rotatably connected to the protrusion 232 extending from the third main drive link 230. The extension length, direction, etc. of the protrusion 232 may be appropriately selected according to the length of the links, the rotation range, and the like.
제2 전달 링크(252)가 제3 주 구동 링크(230)가 서로 연결되는 제2 전달 관절(255)이 제3 주 구동 링크(230) 상에 형성되는 위치는 링크들의 길이 및 회전 범위를 고려하여 적절하게 선정될 수 있다. 예를 들면, 제2 전달 관절(255)은 제3 주 구동 링크(220)의 중간 높이에 배치될 수 있다.The position at which the second transmission joint 255 is formed on the third main drive link 230, in which the second transmission link 252 is connected to the third main drive link 230, takes into account the length and rotation range of the links. Can be appropriately selected. For example, the second transfer joint 255 may be disposed at an intermediate height of the third main drive link 220.
보행 중 제2 전달 관절(255)의 위치는 제1 주 구동 링크(210), 제2 주 구동 링크(220) 및 제3 주 구동 링크(230)의 배치에 따라 결정된다. 한편, 제1 주 구동 링크(210)의 일부와, 제2 주 구동 링크(220)와, 제3 주 구동 링크(230)의 일부와, 제2 보조 구동 링크(251)와, 제2 전달 링크(252)가 하나의 폐루프를 형성하므로, 제2 전달 관절(255)의 위치는 제2 보조 구동 링크(251) 및 제2 전달 링크(252)의 배치로도 결정될 수 있다. 제1 주 구동 링크(210), 제2 주 구동 링크(220) 및 제3 주 구동 링크(230)에 의해 결정되는 제2 전달 관절(255)의 위치와 제2 보조 구동 링크(251) 및 제2 전달 링크(252)에 의해 결정되는 제2 전달 관절(255)의 위치가 동일하므로, 이러한 구속 조건을 고려하여 각각의 링크의 상대적인 운동을 함께 산출할 수 있다.The position of the second transmission joint 255 during walking is determined according to the arrangement of the first main drive link 210, the second main drive link 220, and the third main drive link 230. Meanwhile, a part of the first main drive link 210, a second main drive link 220, a part of the third main drive link 230, a second auxiliary drive link 251, and a second transmission link Since 252 forms one closed loop, the position of the second transmission joint 255 may also be determined by the placement of the second auxiliary drive link 251 and the second transmission link 252. The position of the second transmission joint 255 and the second auxiliary drive link 251 and the first determined by the first main drive link 210, the second main drive link 220 and the third main drive link 230. Since the positions of the second transmission joints 255 determined by the second transmission links 252 are the same, the relative motion of each link may be calculated together in consideration of such constraints.
제2 전달 관절(255)에 대한 제3 주 구동 링크(230)의 회전 각도는 몸체(100)에 대한 제1 주 구동 링크(210)의 회전 각도, 제1 주 구동 링크(210)에 대한 제2 주 구동 링크(220)의 회전 각도 및 제2 주 구동 링크(220)에 대한 제3 주 구동 링크(230)의 회전 각도로 결정된다. 제2 전달 관절(255)에 대한 제2 전달 링크(252)의 회전 각도는 제1 주 구동 링크(210)에 대한 제2 보조 구동 링크(251)의 회전 각도 및 제2 보조 구동 링크(251)에 대한 제2 전달 링크(252)의 회전 각도로 결정된다. 제2 전달 링크(252)에 대한 제3 주 구동 링크(230)의 회전 각도와 제2 주 구동 링크(220)에 대한 제3 주 구동 링크(230)의 회전 각도 간의 차이 일정하므로, 이러한 구속 조건을 고려하여 각각의 링크의 상대적인 운동을 함께 산출할 수 있다.The rotational angle of the third main drive link 230 with respect to the second transmission joint 255 is a rotational angle of the first main drive link 210 with respect to the body 100, the first rotational angle with respect to the first main drive link 210. The rotation angle of the second main drive link 220 and the rotation angle of the third main drive link 230 with respect to the second main drive link 220 are determined. The rotation angle of the second transmission link 252 with respect to the second transmission joint 255 is the rotation angle of the second auxiliary drive link 251 with respect to the first main drive link 210 and the second auxiliary drive link 251. Is determined by the rotational angle of the second transmission link 252 relative to. This constraint condition is constant because the angle of rotation of the third main drive link 230 with respect to the second transmission link 252 and the rotation angle of the third main drive link 230 with respect to the second main drive link 220 are constant. Considering this, the relative motion of each link can be calculated together.
제3 주 구동 링크(230)와 제2 전달 링크(252)가 분리된 상태에서, 제3 주 구동 링크(230) 상의 제2 전달 관절(255)의 이동 가능 범위는 제2 전달 링크(252) 상의 제2 전달 관절(255)의 이동 가능 범위에 포함될 수 있다. 제2 보조 구동 링크(251) 및 제2 전달 링크(252) 각각의 길이 및 연결 위치는 제2 전달 링크(252)의 말단의 이동 가능 범위가 주 구동 링크(220, 230)의 이동 가능 범위를 포함하도록 결정될 수 있다. 따라서, 제3 주 구동 링크(230)의 이동 범위는 제2 전달 링크(252)의 연결로 인해 제한되지 않는다.With the third main drive link 230 and the second transfer link 252 separated, the movable range of the second transfer joint 255 on the third main drive link 230 is the second transfer link 252. It may be included in the movable range of the second delivery joint 255 of the image. The length and the connecting position of each of the second auxiliary drive link 251 and the second transmission link 252 are such that the movable range of the distal end of the second transmission link 252 is the movable range of the main drive links 220 and 230. Can be determined to include. Thus, the moving range of the third main drive link 230 is not limited due to the connection of the second transmission link 252.
제2 보조 구동 링크(251)는 제2 보조 액추에이터(253)로부터 토크를 전달 받아 회동할 수 있다. 제2 주 구동 링크(220)와, 제3 주 구동 링크(230)와, 제2 보조 구동 링크(251)는 각각 연결된 액추에이터들(221, 231, 253)로부터 토크를 전달 받아 임의의 위치 및 회전 각도로 고정되거나 이동한다.The second auxiliary drive link 251 may rotate by receiving torque from the second auxiliary actuator 253. The second main drive link 220, the third main drive link 230, and the second auxiliary drive link 251 receive torque from the connected actuators 221, 231, and 253, respectively, at arbitrary positions and rotations. Fixed or moved at an angle.
이로써, 제2 전달 링크(252)는 그 위치 및 회전 각도가 자연히 결정되며, 제2 보조 구동 링크(251)로부터 전달 받은 제2 보조 액추에이터(253)에 의한 토크를 제3 주 구동 링크(230)로 전달한다. 즉, 제2 전달 링크(252)는 제2 주 구동 링크(220)와 제3 주 구동 링크(230)의 배치에 따라 제2 보조 액추에이터(253)에 의한 토크를 제3 주 구동 링크(230)에 전달한다.As a result, the position and the rotation angle of the second transmission link 252 are naturally determined, and the third primary drive link 230 receives torque from the second auxiliary actuator 253 received from the second auxiliary drive link 251. To pass. That is, the second transmission link 252 receives the torque by the second auxiliary actuator 253 according to the arrangement of the second main drive link 220 and the third main drive link 230. To pass on.
이와 같이, 제1 주 구동 링크(210)의 일부와, 제2 주 구동 링크(220)와, 제3 주 구동 링크(230)의 일부와, 제2 보조 구동 링크(251)와, 제2 전달 링크(252)는 하나의 폐루프를 형성하도록 병렬식으로 연결됨에 따라, 제2 보조 액추에이터(253)에 의한 추가적인 토크로써 제2 주 액추에이터(221) 및 제3 주 액추에이터(231)에 요구되는 토크의 크기를 감소시킬 수 있다.As such, a portion of the first main drive link 210, a second main drive link 220, a portion of the third main drive link 230, a second auxiliary drive link 251, and a second transmission. As the link 252 is connected in parallel to form one closed loop, the torque required for the second main actuator 221 and the third main actuator 231 as additional torque by the second auxiliary actuator 253. Can reduce the size.
도 3을 참조하면, 보행 로봇 장치(10)는 하체(200)의 운동을 제어하는 제어 장치(110)를 포함할 수 있다. 제어 장치(110)는 보행 패턴 생성부(112)와, 제어부(113)와, 액추에이터 구동부(114)와, 위치/토크 검출부(116)와, 힘/토크 센서(117)와, 포즈 센서(118)를 포함할 수 있다.Referring to FIG. 3, the walking robot device 10 may include a control device 110 that controls the movement of the lower body 200. The control device 110 includes a walking pattern generator 112, a controller 113, an actuator driver 114, a position / torque detector 116, a force / torque sensor 117, and a pose sensor 118. ) May be included.
보행 패턴 생성부(112)는 보행 로봇 장치(10)의 목적하는 보행 방향과 보행 폭, 보행 속도를 결정하는 제어 인자에 대응하는 보행 패턴을 생성하고, 이 보행 패턴에 대응하는 주파수의 위상 신호를 발생시킨다. 보행 패턴의 생성은 보행의 초기뿐만 아니라 보행 중에도 실시간으로 생성된다. 보행 패턴 생성부(112)에서 발생하는 위상 신호는 하체(200)를 여러 가지 상태로 구동하기 위한 신호이다.The walking pattern generator 112 generates a walking pattern corresponding to a control factor for determining a desired walking direction, walking width, and walking speed of the walking robot device 10, and generates a phase signal of a frequency corresponding to the walking pattern. Generate. The generation of the walking pattern is generated in real time not only at the beginning of walking but also during walking. The phase signal generated by the walking pattern generator 112 is a signal for driving the lower body 200 in various states.
제어부(113)는 보행 로봇 장치(10)의 동작 전반을 제어한다. 제어부(113)의 입력 측에는 보행 패턴 생성부(112)가 통신 가능하게 연결된다. 제어부(113)의 출력 측에는 액추에이터들을 구동하기 위한 액추에이터 구동부(114)가 통신 가능하게 연결된다.The controller 113 controls the overall operation of the walking robot apparatus 10. The walking pattern generator 112 is communicatively connected to an input side of the controller 113. An actuator driver 114 for driving actuators is communicatively connected to the output side of the controller 113.
제어부(113)는 상술한 링크들의 위치 및 각도 관계에 대한 구속 조건을 이용하여 액추에이터를 통해 인가할 토크를 산출할 수 있다.The controller 113 may calculate a torque to be applied through the actuator by using the above-described constraints on the position and angle relationship of the links.
주 구동 링크들과 보조 구동부로써 이루어지는 폐루프 상에서 주 구동 링크들을 통해 산출된 위치와 보조 구동부를 통해 산출된 위치의 차가 일정하고, 주 구동 링크들을 통해 산출된 회전 각도와 보조 구동부를 통해 산출된 회전 각도의 차가 일정하다는 조건을 g로 설정한다.The difference between the position calculated through the main drive links and the position calculated through the auxiliary drive on the closed loop composed of the main drive links and the auxiliary drive is constant, the rotation angle calculated through the main drive links and the rotation calculated through the auxiliary drive. Set g as a condition that the difference in angle is constant.
도 4를 참조하면, 각각의 주 구동 링크들(210, 220, 230)의 회전 각도가 qu이고, 보조 구동 링크들(241, 251) 및 전달 링크들(242, 252)의 회전 각도가 qv일 때, g는 상수에 해당하므로 아래와 같은 수학식 1을 얻을 수 있다.Referring to FIG. 4, the rotation angles of the respective main drive links 210, 220, 230 are q u, and the rotation angles of the auxiliary drive links 241, 251 and the transmission links 242, 252 are q u . When v , g corresponds to a constant, so that Equation 1 can be obtained.
Figure PCTKR2017006324-appb-M000001
Figure PCTKR2017006324-appb-M000001
상기 수학식 1에서
Figure PCTKR2017006324-appb-I000001
이고,
Figure PCTKR2017006324-appb-I000002
이다.In Equation 1
Figure PCTKR2017006324-appb-I000001
ego,
Figure PCTKR2017006324-appb-I000002
to be.
액추에이터에 의해 토크가 인가되는 링크들의 회전 각도가 qr일 때, 자코비안 Γ=Γ(qu)를 통해 아래의 수학식 2와 같이 표현할 수 있다.When the rotation angle of the links to which the torque is applied by the actuator is q r , it can be expressed by Equation 2 below through Jacobian Γ = Γ (q u ).
Figure PCTKR2017006324-appb-M000002
Figure PCTKR2017006324-appb-M000002
상기 수학식 2에서 τu는 qu에 대한 작동 토크를 나타내며, τr은 전체 작동 토크를 나타낸다. ΓT에 의해 τu는 τr로 적절하게 분산될 수 있다.In Equation 2, τ u represents the operating torque for q u , τ r represents the total operating torque. Τ u can be appropriately dispersed by τ r by Γ T.
주 구동 링크들(210, 220, 230)에만 토크가 인가되는 경우 각각의 주 구동 링크(210, 220, 230)에 인가될 토크를 산출한 후, 산출된 토크의 크기를 고려하여 보조 구동 링크들(241, 251)에 인가될 토크를 산출할 수 있다.When torque is applied only to the main drive links 210, 220, and 230, after calculating the torque to be applied to each of the main drive links 210, 220, and 230, the auxiliary drive links are considered in consideration of the calculated torque. The torque to be applied to 241 and 251 may be calculated.
이로써, 주 구동 링크들(210, 220, 230)에만 토크가 인가될 경우에 요구되는 전체 토크의 크기보다, 보조 구동 링크들(241, 251)에도 토크를 인가할 경우에 요구되는 전체 토크의 크기가 작도록 보행 로봇 장치(10)의 보행 동작을 수행할 수 있다.Thus, the magnitude of the total torque required when the torque is also applied to the auxiliary drive links 241 and 251 rather than the magnitude of the total torque required when the torque is applied only to the main drive links 210, 220 and 230. The gait operation of the gait robot device 10 may be performed to be smaller.
위치/토크 검출부(116)는 각각의 관절들의 위치와 토크를 검출할 수 있다. 위치/토크 검출부(116)는 검출된 위치/토크 정보를 보행 패턴 생성부(112)에 제공할 수 있다. 보행 패턴 생성부(112)는 위치/토크 정보를 보행 패턴 생성에 반영할 수 있다. 또한, 위치/토크 검출부(116)는 제어부(113)에 위치/토크 정보를 제공한다. 제어부(113)는 제공된 위치/토크 정보에 기초하여 보행 로봇 장치의 제어 전반에 요구되는 수치를 산출할 수 있다.The position / torque detector 116 may detect the position and torque of each joint. The position / torque detection unit 116 may provide the detected position / torque information to the walking pattern generation unit 112. The walking pattern generator 112 may reflect position / torque information in the walking pattern generation. In addition, the position / torque detection unit 116 provides the position / torque information to the control unit 113. The controller 113 may calculate a numerical value required for overall control of the walking robot apparatus based on the provided position / torque information.
보행 패턴 생성부(112)는 포즈 센서(118)를 통해 제공되는 자세 정보와 힘/토크 센서(117)를 통해 제공되는 모멘트 정보도 보행 패턴 생성에 반영한다.The walking pattern generator 112 also reflects posture information provided through the pose sensor 118 and moment information provided through the force / torque sensor 117 to the walking pattern generation.
힘/토크 센서(117)는 제3 주 구동 링크(230)에 배치되어, 제3 주 구동 링크(230)에 전달되는 힘과 모멘트를 측정하여, 착지 여부 및 하중을 검출할 수 있다.The force / torque sensor 117 may be disposed in the third main drive link 230 to measure a force and a moment transmitted to the third main drive link 230 to detect landing and a load.
포즈 센서(118)는 연직축에 대한 몸체(100)의 경사 각도와 그 각속도 등을 검출하여 자세 정보를 발생시킨다The pose sensor 118 detects an inclination angle of the body 100 with respect to the vertical axis, its angular velocity, and the like to generate posture information.
한편, 다른 실시예에서, 보행 로봇 장치는 외부에 별도로 제공되는 제어 장치에 의해 원격으로 제어될 수도 있다는 점이 이해되어야 한다.On the other hand, in another embodiment, it should be understood that the walking robot device may be remotely controlled by a control device provided separately from the outside.
본 발명에 의하면, 관절 운동에 필요한 주 구동 링크에 대해 보조 구동 링크가 병렬로 연결됨으로써 주 구동 링크의 회전을 위한 주 액추에이터에 대한 부하를 분산시킬 수 있어 상대적으로 작은 크기를 가지는 낮은 성능의 액추에이터로도 보행 동작을 수행할 수 있으며, 주 구동 링크만을 고려한 계산 및 제한 조건을 먼저 설정한 후 보조 구동 링크에 대한 계산을 순차적으로 계산함으로써 제어의 용이성을 보장할 수 있다.According to the present invention, the auxiliary drive link is connected in parallel to the main drive link required for the joint motion to distribute the load to the main actuator for the rotation of the main drive link to a low performance actuator having a relatively small size The walk operation can be performed, and the ease of control can be ensured by first calculating calculations and constraints considering only the main drive link, and then sequentially calculating calculations for the auxiliary drive link.

Claims (6)

  1. 몸체와 회동 가능하게 연결되는 제1 주 구동 링크;A first main drive link rotatably connected to the body;
    상기 제1 주 구동 링크의 회동축과 평행한 축에 대해 회동 가능하도록 상기 제1 주 구동 링크의 말단과 연결되는 제2 주 구동 링크;A second main drive link connected to the distal end of the first main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link;
    상기 제1 주 구동 링크의 회동축과 평행한 축에 대해 회동 가능하도록 상기 몸체와 연결되는 제1 보조 구동 링크; 및A first auxiliary drive link connected to the body so as to be rotatable about an axis parallel to the rotation axis of the first main drive link; And
    상기 제1 주 구동 링크의 회동축과 평행한 축에 대해 회동 가능하도록 일단부가 상기 제1 보조 구동 링크의 말단과 연결되고 타단부가 상기 제2 주 구동 링크와 연결되는 제1 전달 링크를 포함하며,A first transmission link having one end connected to the distal end of the first auxiliary drive link and the other end connected to the second main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link; ,
    상기 전달 링크가 연결되는 상기 주 구동 링크 상의 위치의 이동 가능 범위는 상기 전달 링크의 타단부의 이동 가능 범위에 포함되고,The movable range of the position on the main drive link to which the transmission link is connected is included in the movable range of the other end of the transmission link,
    상기 보조 구동 링크에 인가되는 토크는, 상기 주 구동 링크들에만 토크가 인가되는 경우 각각의 상기 주 구동 링크에 인가될 토크를 고려하여 결정되는 것을 특징으로 하는 로봇 하체.And the torque applied to the auxiliary drive link is determined in consideration of the torque to be applied to each of the main drive links when torque is applied only to the main drive links.
  2. 제1 항에 있어서,According to claim 1,
    상기 제1 주 구동 링크와, 상기 제2 주 구동 링크와, 상기 보조 구동 링크에 인가되는 토크의 크기의 합은, 상기 제1 주 구동 링크 및 상기 제2 주 구동 링크에만 토크가 인가될 경우에 각각의 주 구동 링크에 인가될 토크의 크기의 합보다 작은 것을 특징으로 하는 로봇 하체.The sum of the magnitudes of the torques applied to the first main drive link, the second main drive link, and the auxiliary drive link is when torque is applied only to the first main drive link and the second main drive link. A robot lower body characterized by being less than the sum of the magnitudes of the torques to be applied to each main drive link.
  3. 제1 항에 있어서,According to claim 1,
    상기 제1 주 구동 링크의 회동축과 평행한 축에 대해 회동 가능하도록 상기 제2 주 구동 링크의 말단과 연결되는 제3 주 구동 링크;A third main drive link connected with the distal end of the second main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link;
    상기 제1 주 구동 링크의 회동축과 평행한 축에 대해 회동 가능하도록 상기 제1 주 구동 링크와 연결되는 제2 보조 구동 링크; 및A second auxiliary drive link connected to the first main drive link so as to be rotatable about an axis parallel to the rotation axis of the first main drive link; And
    상기 제1 주 구동 링크의 회동축과 평행한 축에 대해 회동 가능하도록 일단부가 상기 제2 보조 구동 링크의 말단과 연결되고 타단부가 상기 제3 주 구동 링크와 연결되는 제2 전달 링크를 더 포함하는 것을 특징으로 하는 로봇 하체.And a second transmission link having one end connected to the distal end of the second auxiliary drive link and the other end connected to the third main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link. Robot lower body, characterized in that.
  4. 제1 항에 있어서,According to claim 1,
    상기 제1 주 구동 링크 및 제1 보조 구동 링크는 각각 상기 몸체의 다른 위치에 연결되는 것을 특징으로 하는 로봇 하체.And the first main drive link and the first auxiliary drive link are respectively connected to different positions of the body.
  5. 제1 항에 있어서,According to claim 1,
    상기 제1 전달 링크의 말단은 상기 제2 구동 링크로부터 연장 형성된 돌출부에 연결되는 것을 특징으로 하는 로봇 하체.And the distal end of the first transfer link is connected to a protrusion extending from the second drive link.
  6. 제1 항 내지 제5 항 중 어느 한 항에 따른 로봇 하체를 포함하는 보행 로봇 장치.A walking robot apparatus comprising the robot lower body according to any one of claims 1 to 5.
PCT/KR2017/006324 2016-11-22 2017-06-16 Robot lower body comprising parallel link structure, and walking robot device comprising same WO2018097437A1 (en)

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