Six-wheel-leg movable operation robot test platform

Abstract

The invention discloses a six-wheel-leg movable operation robot test platform which comprises a robot body and six robot single leg structures. The six robot single leg structures are evenly installed on the robot body in the circumferential direction. Each single leg structure can be designed into two structures, one is a wheel-leg structure with a walking function and a wheel-traveling function, and the other is a leg-arm operation structure with a walking function and an operation function. The two single leg structures can be specifically selected according to different mission requirements. Meanwhile, the interior of the robot body is divided into a sensing layer, a driving layer, a control layer and a power layer by partition plates, the interior of the robot body is used for installing a control system, and motion control over a robot is achieved. The six-wheel-leg movable operation robot test platform has the advantages that the walking function and the wheel-traveling function are integrated, and the adaptability of the robot to the road environment is good; and the special operation legs are arranged, and different end effectors can be configured to meet different mission requirements.

Description

technical field [0001] The invention patent designs a six-wheel leg mobile operation robot experimental platform, which belongs to the fields of robotics, electronic technology and sensor technology. Background technique [0002] Legged robots are an important branch in the field of modern robotics. According to the number of legs, robots can be divided into biped robots, quadruped robots and hexapod robots. Hexapod robots have attracted the attention of scholars from all over the world because of their high stability and high redundancy. They are widely used in field detection, pre-emptive rescue and other tasks. Traditional wheeled robots have higher movement speed and higher work efficiency, but have stricter requirements on the working environment. Therefore, the wheel-leg combined robot combines the advantages of the two kinds of robots, which has high research value. It is not enough for the future robot to only have the function of moving. It should also have the fu...

AI Technical Summary

Problems solved by technology

Hexapod robots have attracted the attention of scholars from all over the world because of their high stability and high redundancy. They are widely used in field detection, pre-emptive rescue and other tasks. Traditional wheeled robots have higher movement speed and higher work efficiency, but have stricter requirements on the working environment

It is not enough for the future robot to only have the function of moving. It should also have the function of manipulating the target object. It will be the trend of the single-leg structure design of the legged robot that the limbs can realize the fusion operation function of the leg and arm. In recent years, for the legged robot There are more and more achievements in the structural design of robots with single legs to achieve operational functions. Typical representatives include the Titan-IX robot developed by Tokyo Institute of Technology in Japan and the Asterisk developed by the Institute of Engineering Science and Technology of Osaka University in Japan. However, the legs of these robots have complex structures. , control difficulties and other disadvantages

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