Snake robot mechanism and motion control method based on gyro precession effect

Abstract

The invention discloses a snake-like robot mechanism based on gyroscopic precession effects and a movement control method. The snake-like robot mechanism structurally comprises module units and a universal joint cross connected with the module units. Each module unit comprises a cubic support, a gyrorotor mechanism and an omnidirectional wheel driving unit, wherein the gyrorotor mechanism and theomnidirectional wheel driving unit are arranged in the cubic support, the gyrorotor mechanism comprises a spherical support and a gyrorotor arranged inside the spherical support, and the omnidirectional wheel driving unit comprises six omnidirectional wheel driving components which are arranged around the spherical support and drive the spherical support to universally rotate. Each omnidirectionalwheel driving component comprises an absolute encoder and a single-row omnidirectional wheel driven by an omnidirectional wheel motor, pairwise opposite single-row omnidirectional wheels form a group, and three groups of single-row omnidirectional wheels are positioned on three mutually perpendicular planes orthogonalized at the center of the spherical support. The module units generate heading and pitching movement by the aid of omnidirectional gyroscopic couple generated by the module units, so that various movement of a snake-like robot is realized.

Description

technical field [0001] The invention relates to a snake-like robot, in particular to a snake-like robot mechanism and a motion control method based on the gyro precession effect. Background technique [0002] Snake robot is a common robot mechanism, which has the characteristics of flexible steering and strong ground adaptability, and can be used in medical, military, aerospace and other fields. [0003] The structural design of the snake-like robot mainly adopts the modular design idea. The main structural features of the existing snake-like robot are: the joint rotation function connected with the snake-like robot module and the support function of the snake-like robot module in contact with the external environment. [0004] Common snake-like robots can be divided into single-degree-of-freedom rotary joints, double-degree-of-freedom rotary joints, and three-degree-of-freedom rotary joints according to their joint structure characteristics. Among them, the single-degree-o...

AI Technical Summary

Problems solved by technology

Among them, the single-degree-of-freedom rotary joint is mainly used to realize the heading motion of the snake-like robot, the two-degree-of-freedom rotary joint is mainly used to realize the heading and pitching motion of the snake-like robot, and the three-degree-of-freedom rotary joint can not only realize the heading and pitching motion of the robot , it can also rotate around the axis of the robot module, and then realize the rolling motion of the robot, but the three-degree-of-freedom rotating joint has higher requirements on the output torque of the motor, and the power consumption generated by it is relatively large. At the same time, the size of the robot generated by this structure also bigger

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