Wheel-leg composite spherical surface parallel mechanism

A parallel and motor-driven technology, applied in the field of robotics, can solve problems such as the difficulty of sealing joint drive motors, large self-weight and load ratios, and complex leg mechanisms, etc., to achieve a compact wheel-leg composite structure, fast response speed, and save joints. driving effect

Inactive Publication Date: 2016-05-18
SHANDONG UNIV
View PDF8 Cites 10 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Wheel-leg composite spherical surface parallel mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0018] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0019] On the one hand, the present invention provides a wheel-leg compound spherical parallel mechanism, such as figure 1 As shown, including static platform 2 and dynamic platform 9, wherein:

[0020] The static platform 2 is a semicircle, and the dynamic platform 9 is a square shape;

[0021] Between one end of the static platform 2 and one end of the dynamic platform 9, the first rotating pair 3, the first universal joint 4, the first screw pair 5 and the second universal joint 7 are arranged in sequence, thereby forming the first RUHU kinematic branch chain , wherein the first revolving pair 3 is driven by the first motor 1 arranged on the static platform 2;

[0022] Between the upper end of the static platform 2 and the upper end of the dynamic p...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 陈原桑董辉王康玲高军
Owner SHANDONG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap