Robot based on planar connecting rod mechanism

Abstract

The invention discloses a robot based on a planar connecting rod mechanism. The robot comprises a trunk and foot mechanisms symmetrically connected to the two sides of the trunk. Each foot mechanism comprises a plurality of feet. Each foot comprises a five-rod mechanism. Each five-rod mechanism comprises a crank rocker mechanism, a first swing rod and a second swing rod, and the first swing rod and the second swing rod are connected with the crank rocker mechanism. Each crank rocker mechanism comprises a rack, a rocker, a crank and a connecting rod, wherein the rack is rotatably connected to the trunk; one end of the crank is rotatably connected to the bottom end of the rack, and the other end of the crank is rotatably connected with one end of the connecting rod; one end of the rocker isconnected to the top end of the rack, and the other end of the rocker is connected with the other end of the connecting rod; a lead screw is rotatably connected to the interior of the connecting rod,and the lead screw is in threaded connection with a sliding rod. One ends of the second swing rods are connected with the racks and the rockers to form complex hinges, and the other ends of the rockers are rotatably connected with one ends of the corresponding first swing rods, and the other ends of the first swing rods are rotatably connected with the corresponding sliding rods. Through the robotbased on the planar connecting rod mechanism, the phenomenon that an existing hinge four-rod mechanism has dead points and is likely to get locked is avoided.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot based on a planar link mechanism. Background technique [0002] For a long time, wheeled and tracked robots have been the preferred types of ground mobile robots due to their fast moving speed, ingenious motion efficiency, convenient control, and reliable performance. However, both wheeled and tracked robots have obvious limitations in terms of adaptability to complex terrain environments, movement flexibility, and movement efficiency. People urgently need a robot that can work in complex environments. Compared with wheeled and tracked robots, multi-legged walking robots, especially eight-legged robots, have superior environmental adaptability, and at the same time have little damage to the ground and high flexibility. Moreover, its redundant structure also ensures stable walking even when one leg loses its ability to move. Therefore, the research on gait planning of eig...

AI Technical Summary

Problems solved by technology

However, there is a dead point in the four-bar mechanism, which is prone to lock-up, and because of the constraint relationship between the position of each bar and the length of the bar, its output track is fixed, and the walking robot can only perform a fixed step track, and cannot cross certain obstacles

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