Wheel-leg compound parallel leg mechanism and underwater robot

Abstract

The invention discloses a wheel-leg compound parallel leg mechanism and an underwater robot, belonging to the field of robots. The wheel-leg compound parallel leg mechanism includes a static platform and a dynamic platform, and RUPU kinematic branch chains, RPRU kinematic branch chains and RUR intermediate motion transmission branch chains are arranged between the static platform and the dynamic platform. In the present invention, the RUPU motion branch chain and RPRU motion branch chain located on both sides and the RUR intermediate motion transmission branch chain located in the middle together constitute a new spherical two-degree-of-freedom wheel-leg composite parallel mechanism. The invention uses a new type of spherical parallel mechanism to change the space movement posture of the wheel, thereby realizing the steering and obstacle-crossing posture adjustment actions of the underwater robot when walking. The invention has the characteristics of simple structure, convenient installation, convenient control, good turning 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.

Images