Modular bionic snake-shaped robot based on RSR configuration parallel mechanisms

Abstract

The invention discloses a modular bionic snake-shaped robot based on RSR configuration parallel mechanisms. The modular bionic snake-shaped robot based on the RSR configuration parallel mechanism is formed by connecting a plurality of motion modules of the same structures in series; each motion module adopts one parallel mechanism with three degrees of freedom; each parallel mechanism comprises three RSR series branch chains, a static platform and a movable platform, wherein the three RSR series branch chains are of the same structures and are uniformly distributed in the circumferential direction; each RSR series branch chain comprises a driving device, a driving rod and a driven rod, wherein the input end of each driving rod is connected with each driving device, each driving device is fixed on each static platform, the output end of each driving rod is movably connected to the input end of each driven rod, the output end of each driven rod is connected to each movable platform through a joint shaft, and each joint shaft is arranged on each movable platform; and the movable platform of one of two adjacent motion modules and the static platform of the other one of the two adjacent motion modules share one platform. The modular bionic snake-shaped robot based on the RSR configuration parallel mechanisms has the advantages that the movement modes are diversified, the movement speed is high, the robustness is high, the length is adjustable, the body thickness is variable, and the flexibility is high.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and relates to a modular bionic snake-like robot based on a parallel mechanism with various motion modes, fast motion speed, strong robustness and adjustable length. Background technique [0002] Mobile robots are widely used in various fields. Most of the traditional mobile mechanisms are based on the principle of continuous rotation, and the movement is realized by the interaction between wheels or tracks and the ground. It has poor adaptability and cannot realize the flexibility of movement. Although the footed movement method has strong ground adaptability and enhanced direction adjustment ability, its stability and movement speed are relatively low. Although mobile robots have various forms of movement, most of them can only move in relatively flat or relatively simple environments, and it is difficult to move in complex environments such as the field and pipelines. [0003] Snakes ha...

AI Technical Summary

Problems solved by technology

[0005] 1) The movement mode is single, and it cannot have the ability to realize multiple movement modes at the same time

[0006] 1.1) The length of the unit motion module is fixed, and it cannot achieve contraction motion like pythons and other snakes, but only through the relative rotation between the motion modules to make the body swing left and right to achieve motion, resulting in insufficient adaptability of the snake-like robot to the terrain

[0007] 1.2) It can only realize contraction movement, but cannot realize left and right or sideways swing or linear movement, etc.

[0008] 2) Poor robustness, if any motion module fails, the bionic snake robot cannot work normally

[0009] 3) The snake-like length of the bionic snake-like robot is invariable

[0010] 4) Most of the motion modules have only one degree of freedom, making it difficult to realize complex motions

[0011] 5) Bionic snake robot runs slowly

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