Multi-legged walking robot based on 3-RPC parallel mechanism

Abstract

The invention discloses a multi-legged walking robot based on a 3-RPC parallel mechanism. The multi-legged walking robot comprises the parallel mechanism, and the parallel mechanism comprises an upper platform, a lower platform and a plurality of branches, wherein the branches are connected with the upper platform and the lower platform. The branches are connected with the upper platform through cylindrical pairs and are connected with the lower platform through rotating pairs, and movable pairs are arranged between the rotating pairs and the cylindrical pairs. Three long legs are fixed to the top points of the upper platform, and three short legs are fixed to the top points of the lower platform. According to the multi-legged walking robot based on the 3-RPC parallel mechanism, the two sets of legs of the upper platform and the lower platform alternately support a robot body and move forward, and if only the step size meets the requirement that the gravity center of the robot is located at the triangle area determined by the three legs which have a supporting effect all the time, the robot can be free from overturning danger when travelling on the plane.

Description

technical field [0001] The invention relates to a robot, in particular to a multi-legged walking robot based on a 3-RPC parallel mechanism, and belongs to the technical field of intelligent electronic products. Background technique [0002] Multi-legged robots have many degrees of freedom, large variability, and complex structures, so the control is relatively cumbersome, but they have unique advantages in terms of motion characteristics. Good walking flexibility makes them have strong ground adaptability, and its mechanism research is an important aspect. The theoretical basis of multi-legged walking robot body design has also attracted much attention; the robot with 3-RPC parallel mechanism has the advantages of simple structure, high rigidity, and easy realization of kinematics inverse solution, so the 3-RPC parallel mechanism is used as the design of the robot body. There are many, but the existing Chinese design, the robot of the 3-RPC parallel mechanism is prone to rol...

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Problems solved by technology

[0002] Multi-legged robots have many degrees of freedom, large variability, and complex structures, so the control is cumbersome, but they have unique advantages in terms of motion characteristics. Good walking flexibility makes them have strong ground adaptability. The theoretical basis of the body design of multi-legged walking robots has also attracted much attention; the robot with 3-RPC parallel mechanism has the advantages of simple structure, high rigidity, and easy realization of kinematic inverse solution, so the 3-RPC parallel mechanism is used as the design of the robot body. There are many, but the existing design in China, the robot of the 3-RPC parallel mechanism is prone to rollover during walking, and the walking is unstable

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