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Modular double-degree-of-freedom spherical joint and snake-shaped robot and movement control method

A snake-shaped robot and spherical joint technology, applied in the field of robotics, can solve problems such as insufficient joint driving ability, and achieve the effect of improving joint driving ability, strong movement ability and high redundancy

Inactive Publication Date: 2015-07-01
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology

[0010] The invention discloses a snake-shaped robot with double-degree-of-freedom spherical joints. Gear transmission and worm gear transmission are used inside the joints. By adjusting the total transmission ratio, the joint moment of the robot can be amplified several times, effectively solving the problem of insufficient joint driving ability.

Method used

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  • Modular double-degree-of-freedom spherical joint and snake-shaped robot and movement control method
  • Modular double-degree-of-freedom spherical joint and snake-shaped robot and movement control method
  • Modular double-degree-of-freedom spherical joint and snake-shaped robot and movement control method

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Embodiment Construction

[0020] Specific embodiments of the present invention will be described in conjunction with the above drawings.

[0021] by image 3 with Figure 4 It can be seen that the snake-shaped robot of the present invention includes a number of spherical joints 100 and a connecting member 200 for connecting two adjacent spherical joints 100, and also includes a shell laid on the outside of the spherical joint 100. The connecting member 200 includes a first connecting plate 210 and a second connecting plate 220 with a fork-shaped connector at one end. One end of the first connecting plate 210 is hinged with the fork-shaped connector of the second connecting plate 220. The other end of the plate 210 and the other end of the second connecting plate 220 are respectively connected to two adjacent spherical joints 100, and the serpentine robot is preferably formed by connecting 10 spherical joints 100 in series. The robot joints of the present invention are completely modularized, and there is ...

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Abstract

The invention provides a snake-shaped robot. The snake-shaped robot comprises a plurality of spherical joints (100), and connecting parts (200) for connecting two adjacent spherical joints (100), wherein each spherical joint (100) comprises an outer frame (10), a first moving oscillating part (20) and a second moving oscillating part (30); a hinging shaft central axis of each first moving oscillating part (20) and the hinging shaft central axis of the second moving oscillating part (30) are positioned in the same plane and vertical to each other. The snake-shaped robot is of a circular structure and is compact in structure; the first-stage transmission is performed through a gear; the last-stage transmission is performed through a worm and gear and the joint torque is outputted; therefore, the total output torque of the robot is multiplied, and the joint driving capacity is improved; the snake-shaped robot totally has 20 degrees of freedom, and is extremely high in redundancy, and high in moving capacity.

Description

Technical field [0001] The invention relates to robot technology, in particular to the design and control of the joint structure of a snake robot. Background technique [0002] With the development of modern science and technology, robotics, as a high-tech interdisciplinary of mechanics, electrical, and control, has also been developed at full speed. Bionic robots have also attracted attention as an important branch of robotics engineering applications. At present, many bionic robots have been applied to various fields, such as the bionic four-legged robot BigDog, bionic humanoid robots and so on. [0003] As a new type of bionic robot, the snake-shaped robot has received more and more attention. The design of the snake-shaped robot is based on the design idea of ​​modular joints. The overall volume of the robot is small. The joints are connected in series to form a redundant body structure with multiple degrees of freedom. The robot is in motion. Most of the body is in contact wi...

Claims

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Application Information

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IPC IPC(8): B25J17/02B25J13/00
Inventor 徐文福王洪涛刘天亮田贺明
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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