Tetrahedral rolling robot with parallel mechanism

A robot and tetrahedron technology, applied in the field of robots, to achieve the effect of simple structural design, great flexibility of movement, and overcoming the problem of overturning

Inactive Publication Date: 2010-03-10
BEIHANG UNIV
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  • Description
  • Claims
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  • Tetrahedral rolling robot with parallel mechanism
  • Tetrahedral rolling robot with parallel mechanism
  • Tetrahedral rolling robot with parallel mechanism

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Embodiment Construction

[0053] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0054]The motion mode of the tetrahedron tumbling robot designed by the present invention is different from that of traditional mobile robots. Traditional robots need to rely on supporting devices (wheels, crawlers, multi-legged walking legs, etc.) to advance, and the stability of the robot must be guaranteed so that it cannot tip over. And the motion mode of the tetrahedron tumbling robot of the present invention utilizes the characteristic of the tetrahedron topple after losing stability and rolls forward.

[0055] see figure 1 , figure 2 , image 3 As shown, a tetrahedral rolling robot with a parallel mechanism of the present invention is composed of six telescopic arms and four gusset plate assemblies, each of which is composed of a gusset plate and three universal joints, and The three universal joints are arranged in an equilateral triangle on the b...

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Abstract

The invention relates to a tetrahedral rolling robot with a parallel mechanism, which comprises six telescopic booms and four gusset plate assemblies. Each gusset plate assembly comprises a gusset plate and three cardan joints, wherein the three cardan joints are distributed in a regular triangle at a bottom plate surface of the gusset plate. The six telescopic booms have the same structure and adopt a cable-driven mode. Both ends of each telescopic boom are respectively connected to the cardan joint formed by two gusset plate assemblies. The four gusset plate assemblies have the same structure and the three cardan joints in each gusset plate assembly are respectively connected with one end of the three telescopic booms. The robot can change motion type to conform to different environmentsby the cooperation of cables, thread wheels, pulleys and a motor in a driving mode and has larger motion flexibility. Rich motion types enable the robot to face various types of barriers leisurely without considering the problem of stability.

Description

technical field [0001] The invention relates to a tumbling robot, more particularly, to a tetrahedron tumbling robot with a parallel mechanism, which can complete actions such as traveling, avoiding obstacles, and overcoming obstacles in complex ground environments. Background technique [0002] The tetrahedron tumbling robot can change its shape, motion state, gait, etc. according to the changes in the environment to realize the movement on the complex ground environment, which cannot be realized by traditional robots, so it has stronger environmental adaptability. It has broad application prospects in civilian, military and space exploration fields. [0003] At present, only NASA in the United States has carried out research on polyhedron tumbling robots based on tetrahedron robots. NASA has produced three generations of prototypes, which are single-tetrahedral structure, four-fold tetrahedral structure and twelve-fold tetrahedral structure. At present, only the first-ge...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 毕树生张利格
Owner BEIHANG UNIV
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