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A Method for Determining the Optimal Way of Posture Transformation of Morphing Robot

A technology for posture transformation and determination method, which is applied to motor vehicles, tracked vehicles, transportation and packaging, etc. It can solve problems such as no scientific and effective solutions, and achieve good environmental adaptability and reasonable posture transformation effects

Inactive Publication Date: 2017-03-22
SHANDONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, there is still no scientific and effective solution to the scientific rationality of its posture deformation.

Method used

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  • A Method for Determining the Optimal Way of Posture Transformation of Morphing Robot
  • A Method for Determining the Optimal Way of Posture Transformation of Morphing Robot
  • A Method for Determining the Optimal Way of Posture Transformation of Morphing Robot

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Embodiment Construction

[0042] The embodiment of the present invention is a deformed mobile robot, the length of the body 001 is 648mm, the width of the body 001 is 450mm, the length of the thigh 002 is 360mm, and the length of the shank 003 is 262mm, take X dMax It is a quarter of the length of the entire fuselage 001 when the robot is fully extended: 473mm, take Y dMax It is the height of the center of gravity of the whole fuselage 001 when standing at the highest point: 622mm, and the rotation angles of each joint are respectively calculated as integral multiples of 90° or 45°.

[0043] In order to find the best way of robot posture deformation described in the embodiment, adopt the present invention to determine the process following program of its posture best deformation way:

[0044] The first step is to establish the 8 possible deformation poses of the deformable mobile robot, and take a name code corresponding to the vertices of the graph theory, as shown in Table 1, and the corresponding ei...

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Abstract

The invention discloses a method for determining the best way of posture transformation of a deformed robot. It introduces graph theory into the posture control of the deformed robot, and converts the problem of posture transformation into a problem related to graph theory. In this way, the deformed robot can follow the posture Based on the principle of minimum deformation complexity weight, when the optimal attitude transformation path is found, the control system can send corresponding drive commands to the motors of each joint of the deforming robot, so that the deforming robot can sequentially transform its joint angles according to the optimal transformation path, Realize the reasonable sequential deformation of its posture, and realize the mutual conversion between different postures. According to different environmental conditions, the posture transformation of the deformed robot can be realized stably, efficiently and reasonably, so that it has good environmental adaptability.

Description

technical field [0001] The invention relates to a deformed robot, in particular to a deformed mobile robot. Background technique [0002] There are more and more researches on deformable robots in different complex environments, especially deformable mobile robots, and there are more and more robot deformable poses. For example, a deformed mobile robot has four crawlers (belonging to the lower leg) with drive motors, and each crawler is connected to the main body of the robot through an extension rod (belonging to the thigh) via two kinematic joints, and each kinematic joint uses a motor drive. Through the rotation around its joints, each calf and thigh can achieve rotation changes at different angles, thus combining various postures of the deformed mobile robot, realizing its different walking modes, so as to adapt to the movement needs of different environmental conditions . In the posture transformation of the deformable mobile robot, the transformation between some po...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
CPCB62D55/065
Inventor 樊炳辉吕鹏王传江陈毕胜刘浩王鑫张坤
Owner SHANDONG UNIV OF SCI & TECH
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