Robot network structure and sensing system suitable for unstructured environment
A network structure and unstructured technology, applied in the transmission system, digital transmission system, electromagnetic wave transmission system, etc., can solve the problems of many parts, difficult protection, complex structure, etc.
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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[0068] The present invention takes figure 1 Taking Aabc as an example, when subjected to external environmental force from an object X with a certain three-dimensional geometric size, the edges in contact with the object X will produce different degrees of elastic deformation to form a spatial envelope for the three-dimensional geometric size of the object X, realizing the geometric shape adaptability.
[0069] like image 3 As shown, the external environment item X with a certain spatial geometry is in the blank area in the middle of a triangle Abc in [tetrahedral style];
[0070] Before the contact, the relative movement direction of the object X and the [tetrahedron] basic structural unit follows the dotted arrow, and the dotted arrow points to a blank area in the middle of a triangle Abc of the [tetrahedral] basic structural unit;
[0071] After the contact, the item X comes into contact with the triangle Abc of the [tetrahedral] basic structural unit, and the triangle A...
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The invention discloses a robot network structure and a sensing system suitable for an unstructured environment. The robot network structure is characterized in that: an upper layer structure of the robot network structure comprises one first node; a lower layer structure comprises at least three second nodes which are not collinear; the first node and all the second nodes form a three-dimensionalnetwork structure through connecting rods, and the connecting rods are connected between the two second nodes or between the first node and the second node; when the robot network structure is subjected to a lateral acting force from the external environment, the connecting rod of the three-dimensional network structure is subjected to concave deformation in space to form the adaptability with the geometric structure of the external environment, so that a robot can realize physical interaction in the unstructured environment; on the basis, the connecting rod structure can be directly used asa light path or a single or a plurality of optical fiber loops are embedded, and the physical deformation of the connecting rod is detected by measurement for the change of light transmission quantity, thus the physical perception of the unstructured environment is realized during interaction of the robot.
Description
technical field [0001] The invention belongs to the technical field of robot design, and relates to an adaptive universal space network robot and a sensor system, in particular to a robot network structure and a sensor 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 environmental problems, such as industrial robots. 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] Usually, robots with high environmental adaptability can realize various complex functions in a wider range of application scenarios, especially in unstructured environments, with the help of a single s...
Claims
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Login to View More 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