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Multi-degree-of-freedom two-wheeled robot with variable gravity center

A technology of two-wheeled robots and degrees of freedom, applied in the field of robotics, can solve the problems of two-wheeled robots without trying to change two-wheeled robots, and achieve the effects of stable climbing, easy control, and reduced energy consumption

Inactive Publication Date: 2013-02-13
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In recent years, the research on two-wheeled robots is basically the improvement of its control algorithm, and there is no precedent for trying to change the mechanism of two-wheeled robots to improve the control of two-wheeled robots

Method used

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  • Multi-degree-of-freedom two-wheeled robot with variable gravity center
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  • Multi-degree-of-freedom two-wheeled robot with variable gravity center

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Embodiment Construction

[0027] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0028] This embodiment provides a multi-degree-of-freedom variable center-of-gravity two-wheeled robot, which belongs to a two-wheeled robot with the ability to adjust gravity distribution in different environments. Compared with traditional two-wheeled robots, it can better operate in different environments Achieve balance control.

[0029] In the following description, many specific details are set forth in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described here, therefore, the present invention is not limited to the specific embodiments disclosed below limit. In the accompanying drawings figure 1 It is a schematic diagram of the left and right swing mechanism of the present invention, figure 2 is the schematic diagram of the slider mechanism.

[0030] The o...

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Abstract

The invention discloses a multi-degree-of-freedom two-wheeled robot with a variable gravity center. The robot is remodeled on the basis of a common two-wheeled robot; two degrees of freedom are increased to change the gravity center, so that the balance of a two-wheeled vehicle is preferably maintained in the motion. One degree of freedom is that the two-wheeled robot is integrally inclined to balance the centrifugal force of the two-wheeled robot during turning; during rapid turning, the two-wheeled robot can overcome the centrifugal force through adjusting the inclination angle of the robot, so that the robot more smoothly finishes the turning action; the other degree of freedom is that a slide block is born on the two-wheeled robot; and through adjusting the position of the slide block on an article carrying plate of the robot, the position of the gravity center is changed, so that the climbing action of the robot is controlled more easily and greater stability of the robot during climbing is obtained.

Description

technical field [0001] The invention relates to a two-wheel robot, in particular to a multi-degree-of-freedom variable center-of-gravity two-wheel robot, which belongs to the field of robot technology. Background technique [0002] The self-balancing two-wheel robot originated from the inverted pendulum system, which is an important branch of the wheel-type variable center of mass robot. It is suitable for the maneuvering characteristics of fast movement in a narrow space. The two-wheeled robot is a concrete and complex system, which has attracted the attention of scientific researchers in various industries around the world since the introduction of this concept. Its appearance poses a challenge to the research and application of control theory, and it is a typical device for studying theories of uncertain system control, nonlinear system control, adaptive control, and intelligent control. [0003] In recent years, the research on two-wheeled robots is basically the impro...

Claims

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Application Information

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IPC IPC(8): B62D57/02
Inventor 高学山戴福全崔云飞郭文增宗成国
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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