Leg-wheel type quadruped robot

Abstract

The invention discloses a leg-wheel type quadruped robot which comprises a body, wherein a body support is arranged under the body, four three-degree-of-freedom leg-wheel movement branched chains are arranged on the body and can be changed into wheels and legs, and inter-transformation between legs and wheels of the robot can be achieved quickly. The three-degree-of-freedom leg-wheel movement branched chains can be changed into legs on uneven roads, and therefore, strong adaptive capacity and good passability are achieved. The three-degree-of-freedom leg-wheel movement branched chains can be changed into wheels on even roads, and therefore, high speed and good maneuverability are achieved. The leg-wheel type quadruped robot is simple in structure and low in cost and has good economical and applicable value.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, in particular to a wheeled quadruped robot Background technique [0002] Robot is a comprehensive technology integrating many disciplines such as machinery, electronics, computer, sensor and control technology. At present, there are wheel-type, leg-type, crawler-type, wheel-leg-type and so on in the mechanism of robot walking both at home and abroad. Wheeled robots include single-wheel, two-wheel, multi-wheel, etc. For example, Nanjing University of Science and Technology's master's degree thesis "Study on Structural Design and Fuzzy Control Technology of Autonomous Mobile Robot with Six-wheeled Legs", this article proposes a six-wheeled robot, which has the advantage of fast speed, but the structure is pure wheeled. Although it can control the angle of the wheels through the pull rod, it still cannot pass the rough road. There are also single-legged, double-legged, and multi-legged pose...

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