公开(公告)号：US20210187730A1

公开(公告)日：2021-06-24

申请号：US16770940

申请日：2018-04-19

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Qing SHI ,  Chang Li ,  Mengchao MA ,  Mingjie ZOU ,  Shengjie WANG ,  Qiang HUANG ,  Fukuda TOSHIO

IPC: B25J9/10 ,  B25J17/00

Abstract: A waist imitating device of robotic rat based on multiple-connecting-rod transmission comprises a pitch parallel connecting rod group (8) and a yaw parallel connecting rod group (2). The pitch parallel connecting rod group (8) and the yaw parallel connecting rod group (2) are respectively connected with a front joint and a back joint of a waist of a robotic rat. Under the drive of a first motor (4), crank connecting rods drive the yaw parallel connecting rod group (2) such that left-right yaw motion of the waist of the robotic rat relative to wheels and forelimbs can be achieved. Under the drive of a second motor (14), crank connecting rods drive the pitch parallel connecting rod group (8) such that upper-down pitch motion of the waist of the robotic rat relative to the wheels and the forelimbs can be achieved.

公开(公告)号：US11241787B2

公开(公告)日：2022-02-08

申请号：US16770940

申请日：2018-04-19

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Qing Shi ,  Chang Li ,  Mengchao Ma ,  Mingjie Zou ,  Shengjie Wang ,  Qiang Huang ,  Fukuda Toshio

IPC: B25J9/10 ,  B25J17/00

Abstract: A waist imitating device of robotic rat based on multiple-connecting-rod transmission comprises a pitch parallel connecting rod group (8) and a yaw parallel connecting rod group (2). The pitch parallel connecting rod group (8) and the yaw parallel connecting rod group (2) are respectively connected with a front joint and a back joint of a waist of a robotic rat. Under the drive of a first motor (4), crank connecting rods drive the yaw parallel connecting rod group (2) such that left-right yaw motion of the waist of the robotic rat relative to wheels and forelimbs can be achieved. Under the drive of a second motor (14), crank connecting rods drive the pitch parallel connecting rod group (8) such that upper-down pitch motion of the waist of the robotic rat relative to the wheels and the forelimbs can be achieved.