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All-directional movable manipulator with four feet

An omnidirectional moving, robotic arm technology, applied in the field of robotics, can solve the problems of unstable mobile platform, unsuitable for high-precision operation of robotic arms, etc., and achieve good ground adaptability, strong attitude adjustment ability, and good rigidity.

Active Publication Date: 2014-07-16
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in an unstructured environment, such as catastrophic conditions, wheeled movement still has certain limitations; in addition, the line contact between the moving wheel and the ground also makes the mobile platform unstable, which is not suitable for robotic arms. High-precision working conditions

Method used

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  • All-directional movable manipulator with four feet
  • All-directional movable manipulator with four feet

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Embodiment Construction

[0021] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0022] See attached figure 1 with 2 , the quadruped omnidirectional mobile manipulator includes a multi-degree-of-freedom manipulator 1 and a quadruped mobile platform 2 . The quadruped mobile platform includes a platform base 3 and four legs 19 in a parallel structure, and the legs 19 are symmetrically distributed on the circumference and installed under the side of the platform base 3, so that the mobile platform has the same movement ability on the entire circumference. The legs 19 in paralle...

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Abstract

The invention provides an all-directional movable manipulator with four feet. The all-directional movable manipulator comprises a movable four-foot platform and a multi-freedom-degree manipulator. The movable four-foot platform comprises a platform base and four legs, and the legs in a parallel structure form are mounted laterally below the platform base circumferentially and symmetrically, so that the movable four-foot platform has the same moving capability circumferentially. The legs in the parallel structure form have three degrees of freedom respectively, and each leg is mainly composed of a waist platform, three branched chains, an ankle and a foot. The legs and the platform base are fixedly connected by a certain angle through the waist platforms to enable the legs to extend towards the outside of the platform base. The multi-freedom-degree manipulator is fixedly mounted on the movable four-foot platform. The movable manipulator has good ground adaptability and all-directional moving capability, thereby being applicable to movable operation in narrow space. Moreover, the legs in the parallel structure form have the characteristics such as high bearing capacity and rigidity, guarantee high stability of the platform base of the movable platform, and are applicable to high-precision operation of the manipulator.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically, relates to a quadruped omni-directional mobile mechanical arm. Background technique [0002] The mobile robot arm is a robot system composed of a mobile platform and a robot arm installed on the platform. It has the advantages of a large working space for the mobile robot and the dexterous movement of the industrial robot arm. It has a wide range of application values ​​in military, industrial and other fields. Mobile robots can be divided into wheeled, crawler and legged according to the way of movement, and can be divided into non-omnidirectional and omnidirectional according to the characteristics of movement. The so-called omnidirectional means that when the mobile mechanism moves from the current position to any direction on the two-dimensional plane, the radius of gyration can be zero, which is especially suitable for mobile operations in narrow spaces. [0003] After...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J18/04B25J17/02
Inventor 高峰何俊金振林
Owner SHANGHAI JIAO TONG UNIV
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