A mobile robot with asymmetric triangular gait

Abstract

The invention protects an asymmetrical triangular gait walking mobile robot, comprising a body, a transmission mechanism and wheels. Six wheels are arranged on the both sides of the body with three on each side. The front and rear wheels on the left side and the middle wheel on the right side form a triangular gait set I and are maintained to synchronously rotate in the same direction, the front and rear wheels on the right side and the middle wheel on the left side form a triangular gait set II and are maintained to synchronously rotate in the same direction, the left and right wheels are staggered front and back horizontally and are not positioned on the same axis, thus the asymmetrical layout is formed. The friction to which the middle wheels are subjected less than that by the front and rear wheels. According to the asymmetrical triangular gait walking mobile robot, when the two sets of the wheels move alternately, three wheels are always maintained to be in contact with the ground to form a stable support plane, and a steady state is kept during the movement process. The two sets of triangular gaits are arranged in the same horizontal plane front and back asymmetrically in a staggered way, so that the body structure is more compact and stable, and the swerving effect is more obvious.

Description

Technical field [0001] The invention belongs to the technical field of robots, and specifically relates to a walking mechanism of a mobile robot. Background technique [0002] With the rapid development of my country’s nuclear energy industry, expedition and rescue, military reconnaissance, fire fighting and explosion, aerospace and aviation, etc., there is an urgent need for a device that can walk freely on flat ground, but also in the wild environment and complex terrain (such as earthquake ruins, A mobile robot that walks freely and crosses obstacles in the mine disaster site. The walking mechanism of existing mobile robots can be roughly divided into: wheel type, crawler type, multi-legged type, hybrid type (such as wheel-leg hybrid type, wheel-foot hybrid type) and special forms (such as polygonal rolling type, snake-like sliding type) . Among them, the walking mode that combines wheel-leg structure and triangular gait has strong obstacle crossing ability and terrain adapta...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the deficiencies of the mobile robot in the prior art, such as insufficiently stable movement and insufficient steering effect, the present invention provides an asymmetric triangle with simple and reliable structure, high efficiency, good ground adaptability, high stability, and strong obstacle-crossing ability. gait walking mobile robot

Images