Parallel Hexapod Walking Robot Driven by Rotation

A walking robot and rotational drive technology, which is applied in the directions of motor vehicles, transportation and packaging, can solve the problems of cumbersome layout, complex structure of walking robots, easy interference, etc., and achieve the effects of reducing the moment of inertia, walking stably, and reducing self-weight.

Active Publication Date: 2017-11-14
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a rotationally driven parallel hexapod walking robot. Structural Walking robots are complex in structure, cumbersome in layout, and easy to interfere

Method used

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  • Parallel Hexapod Walking Robot Driven by Rotation
  • Parallel Hexapod Walking Robot Driven by Rotation

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Embodiment

[0026] This embodiment provides a rotationally driven parallel hexapod walking robot, which includes a frame and six parallel driving legs. The parallel driving legs are installed on the frame and include a parallel driving mechanism and a leg mechanism. The parallel driving mechanism is a three branch chain structure, including a driving motor, three rockers, three connecting rods and a moving platform. The three drive motors are fixed on the frame, respectively directly drive the three rockers, and control the three-dimensional movement of the braking platform through the three connecting rods, and the moving platform drives the leg mechanism to move in space; the leg mechanism is a four-bar structure, including the drive rod, Link rods, leg links and lower leg members. The middle of the connecting frame rod is hinged on the frame, and the two ends are respectively hinged to the driving rod and the lower leg rod. The drive rod and lower leg member are connected at the othe...

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Abstract

The invention discloses a rotationally driven parallel hexapod walking robot, comprising a frame and six parallel driving legs, the six parallel driving legs are evenly distributed on the frame and installed symmetrically, wherein each parallel driving leg is opposite to the frame With three degrees of freedom, the frame has a total of six degrees of freedom in three-dimensional translation and three-dimensional rotation under the cooperation of six parallel driving legs; each of the parallel driving legs includes: a parallel driving mechanism and a leg mechanism, the The parallel drive mechanism and the leg mechanism are connected by an equivalent spherical joint a. The parallel drive mechanism is a three-branch structure; the leg mechanism is a four-bar structure. The invention has the advantages of simple and flexible structure, light mechanism, stable walking and good adaptability, and is suitable for high-speed and high-load transportation operations under unstructured terrain conditions.

Description

technical field [0001] The invention relates to the technical field of walking robots, in particular to a rotationally driven parallel hexapod walking robot. Background technique [0002] Legged robots are widely used for detection and transportation tasks in complex ground environments, such as: detection work after nuclear power plant disasters, rescue tasks after earthquakes or landslides, etc. Unlike wheeled and tracked robots, legged robots can flexibly select independent footholds to complete the motion process. The legged robot isolates the fuselage from the complex environment on the ground through mechanical legs, so that the fuselage can complete the set tasks in an environment where other robots are difficult to move. The more the robot has, the better the stability will be, but the structure and control will be more complicated. The hexapod robot has good stability and operation ability, and can be used as an operation platform to complete various tasks. In te...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
Inventor 高峰陈先宝金振林奚达潘阳
Owner SHANGHAI JIAO TONG UNIV
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