Novel reconfigurable snake-like robot and its control method
A snake-shaped robot, a new type of technology, applied in the field of robotics, can solve the problems of limited space, unfavorable reconfigurable design, high positioning cost, and achieve the effects of easy expansion, fast calculation speed and low production cost.
Active Publication Date: 2021-05-07
DALIAN UNIV OF TECH
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Problems solved by technology
[0003] At present, the positioning system of snake-shaped robots mainly adopts visual positioning or manual assisted positioning, which can provide high positioning accuracy, but the positioning cost is high and most of them are limited to limited sites.
The control system of traditional snake-shaped robots can adopt centralized control and distributed control. Centralized control is not conducive to reconfigurable design. Distributed control mainly uses CAN bus technology, which has the advantage of fast signal transmission, but requires special signal conversion circuit
Method used
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[0057] The specific implementation manners of the present invention will be further described below in conjunction with the accompanying drawings and technical solutions.
[0058] Structural part:
[0059] Such as figure 1 As shown, the driven wheel 12 of the snake-like robot is made of rubber material, and the wheel shaft of the driven wheel is an optical axis 13 , and a bearing 11 is installed at the joint between the optical axis 13 and the housing 14 . The separated design of the driven wheel can realize the steering movement of the snake-like robot by controlling the swing phase difference of the snake-like robot body.
[0060] In Fig. 2(a), the transmission part of the motor starts from the output shaft 21 of the N20 motor installed on the single-section housing 53 of the reconfigurable snake-like robot. The output gear of the motor is gear a1, which cooperates with the same module gear b2 , the gear b2 and the coaxial gear c3 rotate coaxially, and the above gears are ...
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The invention belongs to the technical field of robots, and relates to a novel reconfigurable snake-shaped robot and a control method thereof. The robot is mainly composed of a structural part and a control system part; the structural part is mainly composed of a separated driven wheel, a transmission joint, a reconfigurable connection interface structure, a positioning device and an external shell, and the four constitute a single-section snake body; a strong magnetic magnet After attracting the metal piece of the end cover of the previous section, the locking pin engages with the slot of the fixed bracket of the transmission joint of the previous section, and the probe is automatically inserted into the through hole of the end cover of the previous section; the control system part is installed on the cover The board is located inside the outer shell and is connected to the probe; the control system part includes a positioning system and a motion control system. The positioning method adopted in the present invention is not limited by the site, has fast calculation speed, low manufacturing cost, and can ensure positioning accuracy; a master-slave distributed controller based on a new control algorithm is adopted, which is convenient for the expansion of the number of snake-shaped robots, and is suitable for Reconfigurable snake robot.
Description
technical field [0001] The invention belongs to the technical field of robots, and relates to a novel reconfigurable snake-shaped robot and a control method thereof. It integrates the functions of a novel mechanical arm and a snake-shaped robot, and can realize various movement modes of the snake-shaped robot, and can complete ruin rescue, etc. Various tasks. Background technique [0002] As a special robot, the reconfigurable snake-like robot has good adaptability to unstructured environments, especially the use of obstacles to assist movement, making the movement more efficient. Wang Qi et al. proposed a method for describing contact by using the event-driven method combined with the theory of collision and friction. Matthew T. Mason et al. proposed a better friction model for the "kane dynamics puzzle". Reconfigurable modular robots are more adaptable and flexible to tasks and environments. [0003] At present, the positioning system of snake-shaped robots mainly adopt...
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IPC IPC(8): B25J9/06B25J9/16
CPCB25J9/065B25J9/1625
Inventor 李栎森王军刘忠振邱小璐蔡志勤
Owner DALIAN UNIV OF TECH