A Snake Robot Based on Quadrilateral Mechanism

Abstract

A snake-shaped robot based on a quadrilateral mechanism belongs to the field of robot research and engineering technology, and particularly relates to a snake-shaped robot based on a quadrilateral mechanism. The invention realizes three-dimensional motion: it realizes pitching motion through the deformation of the quadrilateral mechanism, is easy to climb, and enhances the ability to overcome obstacles. It realizes deflection and rolling motion respectively through the deflection joint servo and the roll joint servo; it adopts ribs that imitate snakes. Shaped shell for smoother movement. The invention is composed of several identical modules connected end to end. Each module is composed of a quadrilateral mechanism, a deflection joint servo, a deflection joint servo arm, a third shell, a roll joint servo and a roll joint servo arm; The quadrilateral mechanism is composed of a first shell, a second shell, a telescopic rod and upper and lower crossbars.

Description

technical field [0001] The invention belongs to the field of robot research and engineering technology, in particular to a snake-like robot based on a quadrilateral mechanism. Background technique [0002] The research field of contemporary robots has developed from fixed-point operations in structured environments to autonomous operations in unstructured environments. It is difficult for robots designed by traditional methods to meet this requirement. Researchers from all over the world have turned their attention to all kinds of animals in nature. There are more and more studies on bionic robots. Snake robots have the advantages of multi-joints, multi-degrees of freedom, and multi-redundancy. They can change motion modes according to different environments and have strong environmental adaptability. Therefore, snake-shaped robots have also become bionic robots. hotspot in robotics research. [0003] Among them, a snake-shaped robot, such as the ACM-R3 developed by Profess...

AI Technical Summary

Problems solved by technology

Its shortcoming is that its snake body is connected by a memory alloy spring, and only feet for walking are set at the bottom. Due to the characteristics of the 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 this snake robot in disaster rescue

[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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