Hexapod robot driven by parallel connecting rods

A hexapod robot and connecting rod drive technology, applied in the field of robotics, can solve the problems of reducing motion performance and motor shaft wear, and achieve the effect of improving the shape of the legs, increasing the carrying capacity, and increasing flexibility

Inactive Publication Date: 2016-12-07
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional mechanism design has been difficult to meet the needs of this aspect, so it is necessary to draw inspiration from creatures that are constantly evolving in a complex environment, and apply their appearance structure, cognitive pathways, movement mechanisms and behaviors to the development of robots
[0003] In the original design of the leg mechanism of the existing hexapod robot, the motor is usually install

Method used

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  • Hexapod robot driven by parallel connecting rods
  • Hexapod robot driven by parallel connecting rods
  • Hexapod robot driven by parallel connecting rods

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Embodiment Construction

[0021] Preferred embodiments of the present invention are described in detail as follows in conjunction with accompanying drawings:

[0022] see figure 1 and figure 2 , a hexapod robot driven by parallel links, mainly composed of body and six sets of mechanical legs, the body It is an octahedron-like structure, the structure of the six sets of mechanical legs is exactly the same, and the six sets of mechanical legs are installed on the body symmetrically six of the faces.

[0023] like image 3 As shown, the mechanical leg includes a lower steering gear 1, a deflection shaft 2, a connecting rod seat 3, an inner steering gear 4, an outer steering gear 5, a leg inner swing rod 6, a leg outer swing rod 7, and a leg inner pull rod 8. External leg rod 9, inner single universal hinge 10, cylindrical slider 11, outer single universal hinge 12, thigh 13, calf 14, foot end cover 15, foot 16, lower swing rod 17 and lower support rod 18; The connecting rod seat 3 is fixedly con...

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Abstract

The invention relates to a hexapod robot driven by parallel connecting rods. The hexapod robot mainly consists of a robot body and six groups of pedipulators, wherein the robot body adopts an octahedron-like structure; the structures of the six groups of pedipulators are completely the same; the six groups of pedipulators are mounted on six surfaces of the robot body in a shaft symmetry manner; the movement of each steering engine is adjusted, and through the swinging of thighs and the rotating of a waist structure are driven by the parallel connecting rods, and the dancing of shanks is driven by serial connecting rods, so that multiple legged gaits of the hexapod robot are realized. The hexapod robot disclosed by the invention adopts long leg mechanisms, operating ranges of the legs of the robot are enlarged, operating speed is also greatly increased, four gait manners are adopted as the operating manner, and operating capacity of the robot in an unstructured environment is improved.

Description

technical field [0001] The invention relates to a hexapod robot driven by parallel connecting rods, belonging to the field of robots. Background technique [0002] With the advancement of science and technology, the research of robots is not limited to fixed-point operations in structured environments, but to the direction of autonomous operations in unstructured environments such as deep-sea resource development, disaster site search and rescue, radiation environment operations, dangerous task execution, and military reconnaissance attacks. Developed to replace humans in performing dangerous tasks in inaccessible environments. This requires robots to have adaptability and autonomy in unstructured environments. Traditional mechanism design has been difficult to meet the needs of this aspect, so it is necessary to draw inspiration from creatures that are constantly evolving in a complex environment, and apply their appearance structure, cognitive pathways, movement mechanism...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 杨金帅刘吉成季洪超刘树林周晓君翟宇毅
Owner SHANGHAI UNIV
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