Hexapod robot driven by parallel connecting rods

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...

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 installed directly at the joints of the leg (knee joint, hip joint and waist joint), and the leg mechanism is connected by the motor shaft. During the operation of the legged robot, most of the load is applied to the motor shaft. Due to the small diameter of the motor shaft, the motor shaft will be worn to varying degrees in a short period of time, which greatly reduces the motion performance in an unstructured environment.

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