Underactuated mixed-connected travelling mechanism
A traveling mechanism and underactuated technology, applied in the field of underactuated hybrid traveling mechanism, can solve problems such as difficulty and complexity increase, and achieve the effect of reducing the number, ensuring movement flexibility, good stability and bearing capacity
Active Publication Date: 2013-08-28
SHANDONG ACAD OF SCI INST OF AUTOMATION
View PDF5 Cites 6 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Usually, a single leg of a quadruped robot is designed with 2 to 4 degrees of freedom, and the quadruped mechanism has as many as 8 to 16 degrees of freedom. Although the design of multiple degrees of freedom increases the flexibility of the leg movements, it must realize quadruped walking and The difficulty and complexity of gait control has been greatly improved
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0028] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0029] Such as Figure 1-Figure 5 As shown, the underactuated mixed quadruped walking mechanism includes four mixed walking leg mechanisms symmetrically installed below the fuselage 18, each of which is composed of an active quadrilateral mechanism 1, a follower quadrilateral mechanism 3, a Tripod 2 and follow-up foot mechanism 4 constitute, wherein, follow-up quadrilateral mechanism 3 and tripod 2 are all positioned at active quadrilateral mechanism 1 side, tripod 2 is positioned at follow-up quadrilateral mechanism 3 tops, and follow-up foot mechanism 4 is positioned at The lower part of the follower quadrilateral mechanism 3, and there are common components between all adjacent mechanisms; two sets of corresponding front leg mechanisms and rear leg mechanisms are respectively installed on two different eccentric wheels 5, a node of the tripod 2 It i...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses an underactuated mixed-connected travelling mechanism. The underactuated mixed-connected travelling mechanism comprises four mixed-connected travelling leg mechanisms which are symmetrically installed below a frame, wherein each leg mechanism comprises a driving quadrilateral mechanism, a follow-up quadrilateral mechanism, a triangular frame and a follow-up foot mechanism, each follow-up quadrilateral mechanism and the corresponding triangular frame are positioned on one side of the driving quadrilateral mechanism; each triangular frame is positioned at the upper part of the corresponding follow-up quadrilateral mechanism; each follow-up foot mechanism is positioned at the lower part of the corresponding follow-up quadrilateral mechanism; shared component parts are formed between adjacent mechanisms; two groups of corresponding front leg mechanisms and rear leg mechanisms are respectively installed on two different eccentric wheels; and one node of each triangular frame is connected with a machine body through a rotary pair. Compared with the traditional mechanism, the underactuated mixed-connected travelling mechanism has the advantages that the structure is greatly simplified, the control difficulty is reduced, the response speed is high, and the underactuated mixed-connected travelling mechanism is applicable to rapid travelling and operation under complex terrain structures.
Description
technical field [0001] The invention relates to a walking mechanism of a robot, in particular to an underactuated hybrid walking mechanism. Background technique [0002] At present, ground mobile robots that replace humans to work in complex and dangerous environments have attracted more and more attention. At present, this type of robot is mainly divided into two categories: wheeled (tracked) and legged robots. Legged robots, which can adapt to a wider range of terrain, have attracted more attention in recent years. Quadruped legged robots are more flexible than wheeled or tracked robots, simpler to construct and control than hexapods, and more stable than bipeds in motion. It has broad application prospects in disaster relief, teaching and entertainment. From the perspective of leg mechanism configuration, the series configuration has more room for leg movement and is more flexible as a whole, while the parallel configuration has better stability and load-carrying capaci...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 肖永飞王亚丽吴昊李文广
Owner SHANDONG ACAD OF SCI INST OF AUTOMATION