Wheel-leg composite spherical surface parallel mechanism

Abstract

The invention discloses a wheel-leg composite spherical surface parallel mechanism, and belongs to the field of robots. The wheel-leg composite spherical surface parallel mechanism comprises a fixed platform and a movable platform. Two RUHU motion branch chains, an RUPR motion branch chain (passive constraint branch chain) and an RUR middle motion transmission branch chain are arranged between the fixed platform and the movable platform. The novel wheel-leg composite spherical surface parallel mechanism with two spherical surface freedom degrees is jointly formed by the two RUHU motion branch chains and the RUR middle motion transmission branch chain. The novel spherical surface parallel mechanism is used for changing the wheel space motion posture, and therefore the posture adjustment action of turning and obstacle crossing during running of an underwater robot is achieved. The wheel-leg composite spherical surface parallel mechanism has the beneficial effects of being simple in structure, convenient to mount and control, good in 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 spherical parallel 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 mechanism, which makes the leg mechan...

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