Two-degree-of-freedom foldable mobile robot
A technology of mobile robots and degrees of freedom, applied in the field of mobile robots, can solve the problems of limited folding function of three-branch parallel mechanism, single-degree-of-freedom space, four-bar mechanism steering, etc., and achieve simple structure, low cost, convenient storage and transportation Effect
Active Publication Date: 2017-01-04
BEIJING JIAOTONG UNIV
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Problems solved by technology
[0005] The technical problem to be solved by the present invention is to provide a two-degree-of-freedom foldable mobile robot, which solves the limited folding function of the three-chain parallel mechanism and the steering problem of the single-degree-of-freedom space four-bar mechanism
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[0030] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0031] A two-degree-of-freedom foldable mobile robot, the robot as a whole figure 1 As shown, including the first member 1, such as Figure 4 Shown; the second member 2, such as Figure 5 Shown; the third member 3, such as Image 6 Shown; the fourth member 4, such as Figure 7 Shown; the fifth rod 5, the sixth rod 6, such as image 3 Shown; the first motor 7; as Figure 4 As shown, the second motor 8; as figure 2 As shown, the end of the first rod 1B and the end of the second rod 2C, the end of the third rod 3F and the end of the fourth rod 4G respectively realize the mutual rotation connection of the two rods through the connecting shaft 9; image 3 As shown, the spherical end of the fifth rod 5 and the spherical end of the sixth rod 6 are connected by a ball pair to realize the mutual rotation between the two rods; Figure 11 As shown, the end of th...
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The invention discloses a two-degree-of-freedom foldable mobile robot, comprising a first rod piece, a second rod piece, a third rod piece, a fourth rod piece, a fifth rod piece, a sixth rod piece, a first electric motor and a second electric motor, wherein an end B of the first rod piece is connected with an end C of the second rod piece in a mutually rotational manner through a connecting shaft, an end F of the third rod piece is connected with an end G of the fourth rod piece in the mutually rotational manner through a connecting shaft, a spherical casing end of the fifth rod piece and a spherical end of the sixth rod piece are connected with each other through a ball pair to realize relative rotation between the fifth rod piece and the sixth rod piece; an end A of the first rod piece is connected with an end H of the fourth rod piece through the first electric motor, and the middle end of a shorter connecting shaft is matched with the end A of a first connecting rod to realize the mutually rotational connection of the first rod piece and the fourth rod piece; an end D of the second rod piece is connected with the middle end of a long connecting shaft through the second electric motor, and an end E of the third rod piece is matched with the middle end of the long connecting shaft to realize the mutually rotational connection of the second rod piece and the third rod piece; a forked end of a fifth connecting rod is connected with the short connecting shaft in a matched manner, and a forked end of a sixth connecting rod is connected with the long connecting shaft in the matched manner. The robot disclosed by the invention has two degrees of freedom, and can realize omnidirectional moving and folding functions through the control of the first electric motor and the second electric motor.
Description
technical field [0001] The invention relates to a mobile robot, in particular to a two-degree-of-freedom foldable mobile robot. Background technique [0002] The parallel mechanism has the advantages of high rigidity, high precision, and strong load, and can be applied in the field of mobile robots. Among them, the three-branch parallel mechanism has been widely studied and applied because of its simple structure and many types. Spatial link mechanism has the characteristics of compact structure and rich deformation. Spatial single-degree-of-freedom link mechanism has attracted attention in research and application due to its simple structure and low control difficulty. The foldable mobile robot composed of a space link mechanism and a parallel branch chain combines the moving function of the parallel mechanism and the folding function of the space link mechanism, which has important scientific research and application value. [0003] Chinese patent CN103213130A discloses...
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IPC IPC(8): B25J11/00B25J9/00
CPCB25J9/0048B25J11/002
Inventor 姚燕安刘然
Owner BEIJING JIAOTONG UNIV
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