Six-wheel-leg movable operation robot test platform

A technology of mobile operation and experimental platform, which is applied in the fields of electronic technology, sensing and robotics, can solve the problems of low work efficiency, demanding working environment, difficult control, etc., and achieve the effect of convenient control and good adaptability

Inactive Publication Date: 2016-09-28
BEIHANG UNIV
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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 r

Method used

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  • Six-wheel-leg movable operation robot test platform
  • Six-wheel-leg movable operation robot test platform
  • Six-wheel-leg movable operation robot test platform

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[0031] The present invention will be further described in detail below in conjunction with the drawings.

[0032] The six-wheel-leg mobile operation robot experimental platform of the present invention includes a robot body 1 and six robot single-leg structures 2, such as figure 1 As shown, six robot single-leg structures 2 are evenly installed on the robot body 1 in the circumferential direction.

[0033] In order to realize the free movement of the foot end in space when the general robot walks, the single-leg structure 2 has at least 3 degrees of freedom. The more the robot single-leg structure 2 degrees of freedom, the more flexible the legs, but its design, control difficulty and leg quality Will gradually increase. In the present invention, the six robot single-leg structures 2 all adopt three steering gears to output three degrees of freedom to realize the basic walking function.

[0034] The single-leg structure 2 in the present invention is designed into two structures acco...

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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...

Claims

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Application Information

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IPC IPC(8): B62D57/032B25J13/00
CPCB62D57/032B25J13/006
Inventor 丁希仑郑羿齐静尹业成
Owner BEIHANG UNIV
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