Snake-like robot based on orthogonal joints and spiral climbing movement controlling method for snake-like robot

A snake-like robot and motion control technology, applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of flexibility and poor practicability, and achieve the effect of good practicability and high flexibility

Inactive Publication Date: 2014-03-12
SOUTH CHINA UNIV OF TECH +1
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the shortcomings of current snake-like robot motion control methods, such as poor flexibility and practicability, and to break through the technical difficulties of realizing snake-like robots climbing in three-dimensional space, the present invention provides a method that can be easily realized on an orthogonal joint snake-like robot. The spiral climbing control method can dynamically adjust the control parameters to change the climbing posture of the snake-like robot, and truly realize the motion control of the snake-like robot in three-dimensional space

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  • Snake-like robot based on orthogonal joints and spiral climbing movement controlling method for snake-like robot
  • Snake-like robot based on orthogonal joints and spiral climbing movement controlling method for snake-like robot
  • Snake-like robot based on orthogonal joints and spiral climbing movement controlling method for snake-like robot

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Embodiment Construction

[0025] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0026] like figure 1 , figure 2 As shown, a snake-like robot based on orthogonal joints, the snake-like robot with orthogonal joints includes a plurality of joint modules 1 of the same structure, the joint modules 1 are divided into a headstock 4 and a tailstock 5, and the joint modules The headstock 4 is composed of a U-shaped connecting rod 7, the joint module tailstock 5 is composed of a driver 8, a battery 9 and a protective casing 6, and the joint module headstock U-shaped connecting rod 7 is connected to the joint module tail through a matching hole. The drive shaft 10 of the seat driver 8, the battery 9 supplies power to the driver 8, the protective shell 6 is formed by connecting the left half shell 11 and the right half shell 12 through matching holes, and the main body of the orthogonal joint snake robot is composed of multiple Two joint modules ...

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Abstract

The invention provides a snake-like robot based on orthogonal joints. The snake-like robot based on orthogonal joints comprises a plurality of joint modules of the same structure. Each joint module comprises a head base and a tail base, and the head base of each joint module is composed of U-shaped connecting rods. The invention further provides a spiral climbing movement controlling method for the snake-like robot based on orthogonal joints. The method is good in practicability, can dynamically adjust control parameters so that the climbing posture of the snake-like robot can be changed, is high in flexibility, and really controls the movement of the snake-like robot in three-dimensional space.

Description

technical field [0001] The invention relates to the field of robots and motion control thereof, in particular to a snake-like robot based on orthogonal joints and a spiral climbing motion control method thereof. Background technique [0002] Since the snake-shaped robot is similar to a biological snake without limbs and wheels, the force during movement is entirely derived from the friction between the surface of the body and the contact object. The rotation of the internal module joints of the body will make the friction force generated by each part of the body and the direction. Different, the imbalance of force produces movement tendency and forms various movement modes. Snake robot can imitate the movement of some biological snakes, and can create movement modes that biological snakes do not have. At present, domestic and foreign scholars mostly research the motion control of snake-like robots in two-dimensional space, and seldom involve the motion control research in th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/036
Inventor 魏武何振勇林维河任回兴韩学伟张洪华马颖
Owner SOUTH CHINA UNIV OF TECH
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