Hexapod walker based on four-degree-of-freedom mechanism legs

Abstract

The invention provides a hexapod walker based on four-degree-of-freedom mechanism legs. The hexapod walker based on the four-degree-of-freedom mechanism legs comprises a rack, electric units and six structurally-identical four-degree-of-freedom mechanical legs correspondingly connected to two ends of the rack; the electric units are arranged above the rack, and a triangular connecting plate is fixedly connected with the rack; each mechanical leg mainly comprises the triangular connecting plate, four linear driving branches with the same structure, connecting pieces, V-shaped pieces, first andsecond cylindrical ear pieces, a hemispherical foot and a four-bar mechanism; all rotating shafts of the mechanical legs are parallel to each other; and in cooperation with a first linear driving branch and a second linear driving branch, the front-back swing and the leg extension of each leg are achieved through the synchronous movement of a third linear driving branch and a fourth linear drivingbranch, and the side swinging is achieved through the asynchronous movement of the third linear driving branch and the fourth linear driving branch, and swinging of a third connecting rod is achievedby the driving of the second linear driving branch. The hexapod walker based on the four-degree-of-freedom mechanism legs has the advantages of large leg working space, strong barrier-crossing ability, big bearing capacity and good assembly process.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a walker Background technique [0002] With the continuous development of robot technology, mobile robots have gradually participated in industrial and agricultural production and service industries. As a kind of mobile robot, multi-legged robot has the characteristics of discrete foothold, flexible movement and strong adaptability to the ground compared with wheeled and tracked mobile robots. Ideal mobile delivery platform. According to the number of feet, multi-legged robots are divided into two-legged, four-legged, six-legged and so on. Since the hexapod robot adopts a triangular gait during walking, its stability and carrying capacity are good, so that its execution ability in practical engineering applications is strong. Therefore, the research on the hexapod walking robot has important practical significance. [0003] Mechanical legs, as the key components of the hexapod...

AI Technical Summary

Problems solved by technology

The mechanical legs of the existing hexapod walking robots mainly have two forms: series and parallel. Among them, the main characteristics of the series mechanical legs are large working space, flexible movement, simple control, large swing inertial force of the legs, low stiffness, and low self-weight. / Load ratio is large; the main characteristics of parallel mechanical legs are compact structure, high rigidity, small self-weight / load ratio, small working space, and complicated control

However, in some engineering applications that require both the load-carrying capacity of the mechanical legs and the large working space, it is difficult for the hexapod robot with the above-mentioned leg mechanism to exert its own characteristics.

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