Spherical hexapod robot capable of rolling and walking

Abstract

The invention belongs to the technical field of multi-legged walking robots and discloses a spherical hexapod robot capable of rolling and walking. The spherical hexapod robot comprises twelve shells, six upper limbs, two discs, twelve curved bars and six lower limbs. Six supports are fixed to the discs through screws; the six upper limbs are fixed to the six supports correspondingly; the six sets of curved bars are fixed between the upper disc and the lower disc through threaded rods; each set of curved bars is provided with the corresponding lower limb; each of the six upper limbs is provided with two digital actuators and the corresponding shell; the two discs are each provided with the corresponding six curved bars correspondingly; the twelve curved bars are divided into the six sets which each comprise the two curved bars, and each set of curved bars is connected to the corresponding lower limb; and each of the six lower limbs is provided with two digital actuators and the corresponding shell. The spherical hexapod robot is simple in structure, easy to implement and moderate in cost, an Arduino single chip microcomputer and an actuator control panel are used for controlling, so that control precision is high, and operation difficulty is small; and good maneuverability and adaptability are achieved, and the actual working efficiency is high.

Description

technical field [0001] The invention belongs to the technical field of multi-leg walking robots, in particular to a spherical hexapod robot capable of rolling and walking. Background technique [0002] In nature and human society, there are some places that humans cannot reach and special occasions that may endanger human life. Such as the surface of alien planets, mines where disasters occur, disaster prevention and rescue, and anti-terrorist struggles, etc., to continuously explore and study these dangerous environments, so as to find a feasible way to solve problems has become a common need for the development of science and technology and the progress of human society . Previous studies have shown that wheeled mobility has considerable advantages when driving on relatively flat terrain, such as high speed, small vibration, and relatively simple structure and control, but when driving on uneven ground, the energy consumption will be greatly increased. And on soft ground...

AI Technical Summary

Problems solved by technology

Therefore, there is no mature technology that can be directly adopted, and it is even difficult to find reference objects

[0003] To sum up, the problem existing in the existing technology is that the driving energy of swinging legs during walking is not completely derived from the work of muscles, but partly from the work of gravity, which makes the walking efficiency of human beings very high

However, if a multi-legged walking robot uses gravity to move passively, its motion mode will be greatly restricted. Because this control algorithm utilizing gravity walking does not have a good solution, the current multi-legged walking robot is relatively weak. Mobility is too poor on smooth roads, and work efficiency is not high

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