Wheel-leg composite parallel leg mechanism and underwater robot

Abstract

The invention discloses a wheel-leg composite parallel leg mechanism and an underwater robot, and belongs to the field of robots. The wheel-leg composite parallel mechanism comprises a static platform and a movable platform, wherein an RUPU movement branch chain, an RPRU movement branch chain and an RUR intermediate movement transmission branch chain are arranged between the static platform and the movement platform. In the wheel-leg composite parallel leg mechanism, the RUPU movement branch chain and the RPRU movement branch chain positioned on both sides and the RUR intermediate movement transmission branch chain positioned in the middle construct the novel spherical two-degree-of-freedom wheel-leg composite parallel mechanism together. The space movement postures of wheels are changed by using the novel spherical parallel mechanism, so that posture adjusting actions of steering and obstacle crossing during walking of the underwater robot are realized. The wheel-leg composite parallel leg mechanism has the characteristics of simple structure, convenience in installation and control, high steering and obstacle-crossing performance, and the like.

Description

technical field [0001] The invention relates to the field of robots, in particular to a wheel-leg compound parallel leg mechanism and an underwater robot with the mechanism. Background technique [0002] The terrain is full of ravines, unevenness, and obstacles. Therefore, mobile robots with a single function (such as wheeled, legged, and crawler) cannot meet the marine environment with multiple characteristics. The wheel-leg compound movement method has both the high efficiency of wheel-type movement and the good obstacle-surpassing performance of leg-type movement. But it is a pity that the existing wheel-leg compound movement only realizes the simple combination of the functions of the wheels and the legs and feet, but the two are completely independent structurally and have not been integrated into one, so they are different under different terrain conditions. To realize the transition between different moving modes, it is generally necessary to add a special auxiliary ...

AI Technical Summary

Problems solved by technology

But it is a pity that the existing wheel-leg compound movement only realizes the simple combination of the functions of the wheels and the legs and feet, but the two are completely independent structurally and have not been integrated into one, so they are different under different terrain conditions. To realize the transition between different moving modes, it is generally necessary to add a special auxiliary mechanism, which makes the leg mechanism more complicated and less flexible.

[0003] What's more serious is that most of the wheel-leg composite leg mechanisms use a series mechanism, which not only makes it difficult to seal the joint drive motor, but also has shortcomings such as small turning radius, large self-weight-to-load ratio, and monotonous posture.

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