Quadrilateral mechanism based snakelike robot

Abstract

A quadrilateral mechanism based snakelike robot belongs to the technical field of robot research and engineering, and particularly relates to a quadrilateral mechanism based snakelike robot. According to the invention, three-dimensional motion below is realized: pitching motion is realized through deformation of the quadrilateral mechanism, so that climbing becomes easy and obstacle climbing ability is enhanced; deflection motion and turning motion are realized respectively through a reflection joint steering engine and a turning joint steering engine. The motion becomes steadier as a shell like the ribs of the snake is adopted. The quadrilateral mechanism based snakelike robot is composed of multiple same modules which are connected end to end; each module is composed of a quadrilateral mechanism, a deflection joint steering engine, a rudder arm of the deflection joint steering engine, a third shell, a turning joint steering engine and a rudder arm of the turning joint steering engine; the quadrilateral mechanism is composed of a first shell, a second shell, an expansion link, an upper cross rod and a lower cross rod.

Description

Technical field [0001] The invention belongs to the field of robot research and engineering technology, and in particular relates to a snake-shaped robot based on a quadrilateral mechanism. Background technique [0002] The research field of contemporary robots has developed from fixed-point operations in structural environments to autonomous operations in unstructured environments. Robots designed by traditional methods cannot meet this requirement. Researchers from various countries have turned their attention to various animals in nature. There are more and more researches on bionic robots. Snake robots have the advantages of multiple joints, multiple degrees of freedom, and multiple redundancy. They can change motion modes according to different environments and have strong environmental adaptability. Therefore, snake-shaped robots have also become bionics. Hot topics of robotics research. [0003] Among them, a snake-shaped robot, such as the ACM-R3 developed by Professor Hir...

AI Technical Summary

Problems solved by technology

Its shortcoming is that its snake body is connected by memory alloy springs, and only feet for walking are set at the bottom. Due to the characteristics of memory alloy and the location of the feet, the robot can only move forward by creeping, and cannot roll over. Forward, forward speed is slow, these defects limit the application of the snake robot in disaster relief

[0004] There is also a snake-shaped robot that uses several crawlers to cover the whole body of the robot snake. Although it can realize the power of the whole body, it has the disadvantages of complex structure, large size and heavy weight. Therefore, the snake-shaped robot with this structure can only be used for wide environment of

[0005] There is also a snake-like robot that adopts a meandering way, which has high requirements on the flatness of the ground and is not suitable for crawling in the ruins.

Some existing snake-shaped robots do not have shells, and some have cylindrical or square shells. Cylindrical shells tend to cause involuntary rollover during complex terrain movements. No shells or square shells have greater resistance in meandering motions.

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