Variable rigidity parallel joint snake-shaped robot mechanism

A snake-shaped robot with variable stiffness technology, applied in the field of robot research and engineering, to achieve the effects of expanding the detection range, improving frictional drive efficiency, and high body flexibility

Inactive Publication Date: 2013-04-24
BEIJING UNIV OF CHEM TECH
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  • Abstract
  • Description
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Problems solved by technology

[0005] The purpose of the present invention is to solve many inherent defects of existing snake-like robot mechanisms in terrain adaptability and task applicability, provide a snake-like robot with variable stiffness parallel joints and vibration-isolated driving wheels, and improve the performance of snake-like robots in various terrains. Rapidity and stability when exercising in the environment

Method used

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  • Variable rigidity parallel joint snake-shaped robot mechanism

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with the accompanying drawings.

[0036] see figure 1 As shown, the variable stiffness parallel joint snake robot mechanism provided by the present invention is composed of a plurality of identical motion units 14 connected in series; adjacent motion units 14 are connected by a two-degree-of-freedom space parallel mechanism; Each movement unit is numbered, respectively numbered as XII, XI, X, IX, VIII, VII, VI, V, IV, III, II, I; the movement state shown in the figure is U-shaped wheel movement, XII, XI, X , IX and I, II, III, IV motion units are in contact with the ground, the variable stiffness linear drives of these motion units output a small stiffness, reflecting the damping and vibration reduction function; V, VI, VII, VIII motion units are lifted off the ground .

[0037] see figure 2 , Schematic diagram of the motion unit mechanism. The motion unit is composed of four major parts: fixed U ...

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Abstract

The invention relates to a variable rigidity parallel joint snake-shaped robot mechanism and belongs to the field of robots. A robot is formed by a plurality of action units in serial connection. Each action unit comprises a two freedom degree spatial parallel joint. The joint comprises a fixed U branch chain and two SPDU drive branch chains. Each drive branch chain comprises a variable rigidity linear driver. A rotary shaft and a drive gear parallel with the fixed U branch chain form contour of each action unit. The rotary shaft is connected with the fixed U branch chain through a vibration isolating device which can balance off reverse moment. Rigidity and damp of the drive branch chain is controllable and variable, so that terrain adaptability of the snake robot can be improved by increasing joint flexibility, posture accuracy and stability of the snake robot can be improved by increasing joint rigidity, and applicability of the snake robot is improved. Vibration generated during action of the robot is absorbed by the vibration isolating device and the drive branch chain, impact moment tolerance of the snake robot joint is improved, and accordingly motion speed and efficiency of the robot are increased.

Description

technical field [0001] The invention relates to the field of robot research and engineering, in particular to a snake-shaped robot mechanism with variable stiffness parallel joints, which helps the snake-shaped robot to perform reconnaissance, search and rescue tasks. technical background [0002] Snake robot is a typical bionic robot, which can imitate the limbless movement of snakes in nature, and overcome the shortcomings of traditional wheeled, crawler, legged and other walking methods with single terrain adaptability. It is displayed in the fields of disaster search and rescue and military reconnaissance a great application prospect. However, the performance limitations of the snake-like robot's joint mechanism, drive mechanism and auxiliary motion mechanism bring difficulties to the actual disaster search and rescue and military reconnaissance of the snake-like robot. [0003] At present, most snake-like robots use rigid joints. For example, the ACM-R5 snake-like robo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06
Inventor 曹政才刘天龙高金吉陈艳萍
Owner BEIJING UNIV OF CHEM TECH
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