Robot network structure suitable for non-structured environment, and sensing system
A network structure, unstructured technology, applied in transmission systems, digital transmission systems, electromagnetic wave transmission systems, etc., can solve problems such as high cost, difficult protection, and many parts
Pending Publication Date: 2019-08-27
SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA
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Problems solved by technology
This type of design often has many difficulties such as complex structure, high cost, many parts, narrow space, complicated control, and difficult protection in special environments. However, it is still a challenge to propose a general adaptive robot design method. A major challenge in the field of robot design for special application requirements in structured environments
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[0102] The adaptive process of the first basic unit of the present invention is:
[0103] The present invention is based on figure 1 In Aabc as an example, when subjected to the external environmental force from an item X with a certain three-dimensional geometric size, the edges in contact with the item X produce different degrees of elastic deformation respectively to form a spatial envelope for the three-dimensional geometric size of the item X, and realize the geometric shape. adaptability.
[0104] like Figure 5 As shown, the external environment item X with a certain spatial geometric shape is in the blank area in the middle of a triangle Abc of [tetrahedron];
[0105] Before the contact occurs, the relative movement direction of the item X and the [tetrahedral] basic structural unit is pointed by the dotted arrow, and the dotted arrow points to the blank area in the middle of a triangle Abc of the [tetrahedral] basic structural unit;
[0106] After the contact is ma...
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The invention discloses a robot network structure suitable for a non-structured environment, and a sensing system. The robot network structure comprises a first basic unit and a plurality of second basic units, which are superimposed; a first upper layer structure of the first basic unit comprises a first node; a first lower layer structure comprises at least three non-collinear second nodes; thefirst node and all the second nodes form a three-dimensional network structure through connecting rods; a second upper layer structure of each second basic unit comprises at least two third nodes; a second lower layer structure comprises at least two fourth nodes; the at least two fourth nodes are not coplanar with the at least two third nodes; and all the third nodes and all the fourth nodes forma three-dimensional network structure through connecting rods. When a lateral acting force from an external environment is received, the connecting rods of the three-dimensional network structure aresubjected to sunken deformation in space to form adaptivity to a geometric structure of the external environment, so that a robot can realize physical interaction in the non-structured environment.
Description
technical field [0001] The invention belongs to the technical field of robot design, relates to an adaptive universal space network robot and a sensing system, and in particular relates to a robot network structure and a sensing system suitable for physical interaction in an unstructured environment. Background technique [0002] Existing robots often use rigid materials for structural design, and a relatively mature design method has been formed in dealing with structured environment problems, such as industrial robots, but when dealing with a wider range of unstructured environment interactions, this design method still has relatively Large limitations often require the use of more complex mechanical structures, transmission components, drive components, etc. to achieve complex motion functions. In this process, the adaptability of the robot structure has become an important design issue. [0003] Generally, robots with high environmental adaptability can realize various c...
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IPC IPC(8): G01B11/16H04L12/24H04B10/25
CPCG01B11/16H04L41/044H04L41/12H04B10/25891
Inventor 宋超阳万芳
Owner SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA