| 摘要 |
The present invention is related to the Mechanics and Electronics fields, and it refers to the implementation of a balance device for a biped robot by means of the magnetic levitation of a stabilizing mass controlled by electromagnetism. This device uses the magnetic levitation and does not require servomotors for producing the balance control in a biped robot, the invention being substantially different from current methods and devices, since it uses a novel stabilizing mass that levitates in a permanent manner by means of magnetism, thus achieving in an ingenious manner the correction of the center of gravity in the robot, increasing its autonomy and being susceptible to be industrially reproduced. The purpose of the device is to balance the biped robotic structures when walking without needing actuators of the servomotor type, the balance being implemented by correcting, by electromagnets, the center of gravity of the robot. The aforementioned description is achieved by the movemen t of a stabilizing mass in continuous magnetic levitation. The movements of the mass are produced by electromagnets installed in the end portions of a container cartridge. The use of this stabilizing mass simplifies and makes the balance control more efficient, compared to the traditional control using several servomotors, also reducing, in a significant manner, the maintenance thereof upon presenting a reduced wear due to the frictions near to zero during the mass movement. |
