Obstacle-crossing crawling robot and driving method thereof

Abstract

The invention relates to an obstacle-crossing crawling robot and a driving method thereof. The obstacle-crossing crawling robot comprises a driving module and multiple crawling assemblies connected with one another. Each crawling assembly comprises a first module and a second module, wherein the first module and the second module are connected through a return module and are both in the shape of an equilateral triangle. At least one crawling assembly further comprises a traction module and a transmission shaft, wherein rollers are arranged at the two ends of the transmission shaft, and the driving module is connected with the traction module and the transmission shaft. The obstacle-crossing crawling robot and the driving method thereof have the advantages that stability is realized, the structure is simple, deformation controllability is high, the probability of self-interference caused by deformation is low, maneuverability and simplicity of a traditional robot and deformability and adaptability of a flexible robot are combined by means of a traction module and return module combined three-direction deformation mode, and therefore the robot can run in a plane, a gap, a pipeline and other environments.

Description

technical field [0001] The invention relates to the technical field of mechanical design, manufacture and automation thereof, in particular to an obstacle-surmounting crawling robot and a driving method thereof. Background technique [0002] Robots have been widely used in many fields such as industry, rescue, and detection. Traditional robots are generally composed of rigid modules connected by kinematic pairs. Each kinematic pair provides one (or more) translational degrees of freedom or rotational degrees of freedom. This robot has The advantage of precise movement. [0003] Traditional robots mainly use deformation wheels, crawlers, legs, etc. to move over obstacles, and cannot get rid of the restrictions of heavy fuselage and fixed structure. Their flexibility and deformability are poor, and their mobility in narrow gaps and complex planes is poor. Difference. In order to increase the softness of robots, researchers have designed a series of soft robots, such as eleph...

AI Technical Summary

Problems solved by technology

However, no matter at home or abroad, soft robots need to open up the market in the situation where traditional industrial robots dominate the world. From product design, material application to printing and manufacturing, soft robots are completely different from traditional robots. Its industrialization means To subvert the entire industrial chain of traditional industrial robots, it is currently difficult to popularize and apply

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