A hybrid-connection walking robot construction method, wherein the construction method comprises the steps of:
- (1) constructing foot parallel mechanisms and thigh mechanisms, including:
- constructing the foot parallel mechanisms:
- wherein each foot parallel mechanism comprises one foot base platform, three phalange branch chains and three toes, the three phalange branch chains are fixedly connected to the foot base platform at connection points which are located on the three vertices of a triangle;
- lower ends of the three phalange branch chains are connected to the toes respectively, and the three toes form a toe triangle;
- the foot parallel mechanism forms a lifting-standing leg;
- and each phalange branch chain is a mechanism formed by the combination of the following types of DOFs (degrees of freedom):
- Tz, TzTx, TzTy, TzTxTy, RxTz, RyTz, RxTzTx, RyTzTy or RxRyTz;
- constructing the thigh mechanisms:
- wherein each thigh mechanism comprises an upper platform, a lower platform and one or more thigh branch chains connecting the upper platform with the lower platform;
- each thigh branch chain comprises one kinematic pair, one or more series mechanisms, or a hybrid-connection mechanism;
- the thigh mechanism is a mechanism with one to five DOFs;
- and the one to five DOFs comprise any one of or any combination of Tx, Ty, Tz, Rz and Rx DOFs or Tx, Ty, Tz, Rz, Rx and Ry DOFs, and include a single DOF, 2 DOFs, 3 DOFs, 4 DOFs or 5 DOFs;
- (2) constructing hybrid-connection leg mechanisms:
- wherein each hybrid-connection leg mechanism comprises one thigh mechanism and one foot parallel mechanism, the foot parallel mechanism being located below the thigh mechanism, and the two being connected in series to form a hybrid-connection leg mechanism;
- and the foot base platform of the foot parallel mechanism or the lower platform of the thigh mechanism is selected as a common base platform;
- (3) selecting two suitable leg mechanisms A and B:
- in the above mentioned hybrid-connection leg mechanisms, one hybrid-connection leg mechanism is selected as leg mechanism A;
- in the above mentioned hybrid-connection leg mechanisms and foot parallel mechanisms, one hybrid-connection leg mechanism or foot parallel mechanism is selected as leg mechanism B;
- wherein the combination of the DOFs of the two leg mechanisms should meet the following requirement:
- the two leg mechanisms must at least have one Rz DOF and one Tx or Ty DOF, or the hybrid-connection leg mechanism of at least one thigh mechanism has both Rz DOF and Tx or Ty DOF;
- or two thigh mechanisms each have Rz DOF and Tx or Ty DOF;
- (4) connecting the two leg mechanisms A and B to build a hybrid-connection walking robot
- wherein if the two leg mechanisms A and B are two hybrid-connection leg mechanisms, the upper platforms of the thigh mechanisms of the two leg mechanisms A and B are fixedly connected together so that the two connected upper platforms form a pelvis and the two connected leg mechanisms form a hybrid-connection walking robot;
- if one of the two leg mechanisms is a hybrid-connection leg mechanism and the other one is a foot parallel mechanism, the upper platform of the thigh mechanism of the hybrid-connection leg mechanism is fixedly connected with the foot base platform of the foot parallel mechanism so that the two connected platforms form a pelvis and the two connected leg mechanisms form a hybrid-connection walking robot;
- and
- for the above connecting, the thigh branch chains, the base platforms, metatarsal branch chains, the toes and toe triangles should meet the following layout requirements:
- each thigh branch chain of the two leg mechanisms has its own independent movement space, without any interference with each other;
- the two base platforms must be disposed in a manner of:
- one be higher and the other be lower, or one be inside and the other be outside, or one be forward and the other be backward, without any interference with each other;
- the metatarsal branch chains of the two leg mechanisms each have their own independent working space, without any interference with each other;
- the projections of the toes of the two leg mechanisms on the horizontal plane do not overlap each other;
- the distance between the centers of gravity of the toe triangles of the connected two leg mechanisms is less than the sum of the radii of the circumcircles of the two toe triangles, and the projections of the two toe triangles on the horizontal plane have an overlapping portion.