Robot body modularization linkage device for single-drive multi-legged robot

A multi-legged robot and linkage technology, applied in the field of robotics, can solve problems such as difficulty in controlling motion characteristics, affecting the precise description of robot kinematics and dynamics mathematics, and complex robot structure, achieving strong practical value, reliability and stability. High and wide range of effects

Inactive Publication Date: 2013-01-30
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the underactuated robot has the disadvantages of complex structure and difficult control of motion characteristics, which affects the mathematical description of robot kinematics and dynamics.

Method used

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  • Robot body modularization linkage device for single-drive multi-legged robot
  • Robot body modularization linkage device for single-drive multi-legged robot
  • Robot body modularization linkage device for single-drive multi-legged robot

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Experimental program
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Embodiment

[0038] Single-drive multi-legged robot body modular linkage, such as figure 1 with figure 2 As shown, it includes a main frame 1, a first connecting frame 2 and a second connecting frame 26, the first to sixth grippers 3, 8, 11, 17, 20, 25, the first to sixth hip mechanisms 4, 7, 10, 18, 21, 24, first to sixth double parallelogram linkage mechanisms 5, 9, 12, 16, 19, 23, first crank 6, second crank 22, motor fixing frame 13, power transmission rod 14. Motor 15; motor 15 is fixed on main frame 1 by motor fixing frame 13; first to sixth double parallelogram linkage mechanisms 5, 9, 12, 16, 19, 23 are all arranged on both sides of main frame 1 The first to sixth hip mechanisms 4, 7, 10, 18, 21, 24 are connected to the first to sixth double parallelogram linkage mechanism 5 through the first to sixth grippers 3, 8, 11, 17, 20, 25 , 9, 12, 16, 19, 23 are connected, and the double parallelogram linkage mechanism in front of the same side is connected with the double parallelogram...

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Abstract

The invention relates to a robot body modularization linkage device for a single-drive multi-legged robot. The device comprises a main frame, double parallelogram linkage mechanisms, hip mechanisms, grippers, a connecting frame, a crank, a power drive rod and a motor; both the parallelogram linkage mechanisms are arranged at both the sides of the main frame; the hip mechanisms are connected with the parallelogram linkage mechanisms by the grippers; double the parallelogram linkage mechanisms are connected by the connecting frame or the crank; the motor is connected with the crank by the power drive rod; and the motor drives the power drive rod to rotate, the power drive rod drives the crank or the connecting frame to rotate, the crank drives both the parallelogram linkage mechanisms to reciprocate and the reciprocating motion of both the parallelogram linkage mechanisms drives each hip mechanism to alternately move back and forth by the grippers. Compared with the prior art, the robot body modularization linkage device for the single-drive multi-legged robot has the advantages of simple structure, optimization for foot end tracks, high motion reliability and stability and the like.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a single-drive multi-leg robot fuselage modular linkage device. Background technique [0002] Multi-legged robot is an important branch of mobile robot and crawler robot. It is mainly used in multi-obstacle environments and irregular terrain. It has higher mobility and flexibility than mobile robots and tracked robots. Most of the multi-legged robots are designed according to bionics, so it can have the characteristics of many bionic creatures. [0003] The research on the motion mechanism of multi-legged robots has always been one of the focuses of scientists from all over the world. In recent years, foreign research has been more prominent on the iSprawl family of multi-legged robots, which use pneumatic pistons as the main power source; and the RHex family of multi-legged robots. Each foot of RHex has only a single degree of freedom of rotation. The design with ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 谢红王涛汪旭红李尚韦克凡张伶波殷其鑫
Owner TONGJI UNIV
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