Parallel compliant wheel foot device for wheeled robot

Abstract

The invention discloses a parallel compliant wheel foot device for a wheeled robot. The device comprises an inverted parallel six-degree-of-freedom movement structure and a foot-end drive wheel assembly; each electric cylinder of the inverted parallel six-degree-of-freedom movement structure is connected to a part of the robot through an upper hook hinge and connected to a foot-end wheel fixing base through a lower hook hinge, and the six-degree-of-freedom movement of the foot-end wheel fixing base is driven by retractable control over the electric cylinders; a driving motor in the foot-end driving wheel assembly is fixedly connected to the body of the robot and drives a speed reducer to move through a transmission assembly, an output shaft of the speed reducer is coaxially fixedly connected with tires, and a spring damper is hinged to the body of the speed reducer and the foot-end wheel fixing base to form single-degree-of-freedom spring-damping suspension. By using the device, defects of a single leg in loading capacity and foot end dynamics can be overcome.

Description

technical field [0001] The invention belongs to the field of wheel-foot compound robots, in particular to a parallel-connected compliant wheel-foot device for wheel-foot robots. Background technique [0002] The movement modes of mobile robots mainly include footed, wheeled, crawler, and peristaltic, among which footed and wheeled are the most widely used. Wheeled sports have high speed, stability and load capacity, and are the most mature form of sports, but their obstacle avoidance ability and sports performance in unstructured environments are not ideal. The speed and efficiency of foot movement are low, but its foot trajectory is a series of discrete points, which can use isolated ground support, so it has strong obstacle avoidance ability and terrain adaptability. [0003] The rapid expansion of the application field of mobile robots requires increasing requirements for their motion performance, especially in special fields such as unmanned combat platforms, battlefiel...

AI Technical Summary

Problems solved by technology

[0005] Most of the above-mentioned wheel-foot composite mobile robots are equipped with wheels at the foot end, and the series joint mechanism is used to drive the foot end movement, and the wheel hub motor is used to drive the foot end wheel movement, resulting in insufficient load capacity and foot end dynamic characteristics of the single leg.

Its shortcomings are specifically manifested in the following four aspects: the above-mentioned wheel legs based on the tandem mechanical structure, the foot joint stiffness is small, and it is difficult to withstand high load tasks; the tandem joints cause the accumulation of position control errors, which affects the control accuracy and stability; To improve the load capacity of a single leg, hydraulic drive is required. There is a problem of noise from the hydraulic power source. In order to reduce noise, electric drive is used, which will make the load capacity insufficient; in order to improve the driving capacity of the robot’s wheeled motion, it is necessary to increase the power of the hub motor , the quality and volume of the high-power hub motor are relatively large, which makes the mass of the foot end of the robot larger, and the dynamic characteristics of the foot movement of the robot are poor

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