Rigid flexible coupled wirewalking robot based on balance beam

Abstract

The invention relates to a rigid flexible coupled wire walking robot based on a balance beam. The robot is provided with three components: a walking device consisting of a moving motor and a chassis composed of a bottom plate and a vertical plate, a balance device composed of a sensor, an execution motor, a gear drive mechanism, a rotation rod and a translation member, and an intelligent control electric box. The key components of the robot are that: the execution motor rotation shaft of the balance device is provided with two groups of balance components, namely a rotation balance component composed of a coupling piece and a rotation rod and a gravity center translation balance component consisting of gear-driven quadrilateral translation members. The balance of the robot is regulated through controlling rotation of the rotation rod in the rotation balance component linked with the execution motor rotation shaft and translation displacement of translation rods in the quadrilateral translation members: the action of the gravity moment of the robot is offset by virtue of the rotating torque of the rotation rod, and simultaneously, the gravity center shift is offset by mass center shift generated by the translation rod, thereby achieving the self-balance capability and walking capability on a steel wire of the robot.

Description

technical field [0001] The invention relates to a tightrope walking robot. Specifically, it relates to a two-wheeled robot capable of maintaining self-balancing and forward and backward movement by adjusting a balance bar on a suspended flexible steel wire, and belongs to the technical field of robots. Background technique [0002] A tightrope walking robot is a robot system that balances on a flexible steel wire by means of driving wheels. This kind of robot has the characteristics of static instability and dynamic stability, and has obvious underactuation characteristics. The robot body and the steel wire rope generate mutual restraint motion through dynamic coupling. Various parameters of its dynamic characteristics are particularly important for the equilibrium motion of the system. Due to the complexity of the system, these parameters usually cannot be obtained by direct measurement, but an online identification of robot parameters is required. Therefore, the research...

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Problems solved by technology

The document "Simple Fuzzy Controller for Robot Walking Tightrope" establishes a mathematical model for robot walking on a tightrope, and controls the swing of the balance pole through the fuzzy control method. However, there is no consideration about the flexibility of the steel wire rope in this document, and this document fails to make a tightrope walking robot. The physical prototype is only a simple simulation verification of the established mathematical model

The patent application of Shanghai Jiaotong University discloses a tightrope walking robot consisting of an outer casing, a support wheel, a gyroscope, an inner ring straight drive motor, an inner ring frame, an outer ring frame, a gyroscope, a straight drive motor, a damper and a sensor. , the patent application does not consider the influence of the flexibility of the rope on the stable balance of the robot, and the tightrope walking robot described mainly relies on the gyroscopic effect generated by the gyroscopic movement to maintain balance, rather than by controlling the balance bar.

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