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Sphere-wheel compound transformable mobile robot

A mobile robot and robot motion technology, applied in the field of mobile robots, can solve the problems of no combination of spherical robot and wheeled robot, no combination of spherical robot and wheeled robot, etc., to achieve system motion redundancy, reduce The effect of transverse cross-sectional area and strong adaptability

Inactive Publication Date: 2012-05-02
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, there is no combination of spherical robots and wheeled robots in the existing mobile robots, and there is no combination of the motion characteristics of spherical robots and wheeled robots to adapt to many different environments

Method used

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  • Sphere-wheel compound transformable mobile robot
  • Sphere-wheel compound transformable mobile robot
  • Sphere-wheel compound transformable mobile robot

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Experimental program
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Embodiment Construction

[0024] The flexible spherical shell includes an elastic steel wire 8, a left end cover 3 and a right end cover 15. The left and right end covers 3 and 15 are circular aluminum plates. There are 25 elastic steel wires 8 in total, which are evenly distributed and the two ends are respectively fixed on the left end cover 3 and the right end cover 15. around the edges. The bending deformation of the elastic steel wire 8 is realized by the expansion and contraction of the electric push rod 10. By changing the relative positions of the left and right end caps 3 and 15 connecting the two ends of the elastic steel wire 8, the geometric shape of the robot shell is changed, so as to realize the robot Changes in exercise patterns. When the spherical robot is in motion, the elastic steel wire 8 in contact with the ground can bear the weight of the robot itself without too much deformation and does not affect the stable motion of the robot.

[0025] The spherical shell and the internal fr...

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Abstract

A sphere-wheel compound transformable mobile robot comprises a spherical shell, a framework in the spherical shell, a sphere driving device, a spherical shell expansion transforming device and a wheel-type driving device. The sphere driving device, the spherical shell expansion transforming device and the wheel-type driving device are arranged on the framework in the spherical shell. The spherical shell is formed by a plurality of flat radial elastic materials, two ends of the elastic material are fixed on the framework in the spherical shell, and the bending transformation of the elastic materials of the spherical shell is realized by the spherical shell expansion transforming device, so that the role shifting between the spherical and wheel-type robots is realized. When the spherical shell is in the state of sphere or similar sphere, the mobile robot moves through the rolling of the sphere; when the spherical shell is in the state of cylinder or similar cylinder, the robot moves through wheel-type driving. The characteristics of the spherical robot and the wheel-type robot are mixed in the sphere-wheel compound transformable robot, and the robot has different movement models and good movement characteristics and can adapt to different road conditions, so that the robot has wide application prospect.

Description

technical field [0001] The invention designs a mobile robot, specifically a composite mobile robot that realizes the interchange between a spherical robot and a wheeled robot by changing its own geometric shape. Background technique [0002] With the continuous development of robot technology, the environment in which robots are in is constantly changing when performing tasks such as social services, disaster rescue, planetary exploration, and battlefield reconnaissance. put forward higher requirements. Among them, the deformable composite robot can change its own configuration according to the change of the environment, so it has been widely and rapidly developed and applied. The wheel-legged composite robot combines the terrain adaptability of the leg type and the high-speed and high-efficiency characteristics of the wheel type. It has a large operating range and strong obstacle avoidance capabilities. Typical representatives include JPL's Go-for and the Hybtor of the Uni...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/04
Inventor 孙汉旭侯康贾庆轩张延恒李鹏
Owner BEIJING UNIV OF POSTS & TELECOMM
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