A multi-legged robot for physical interaction in unstructured environments
An unstructured and robotic technology, applied in the direction of motor vehicles, circuits or fluid pipelines, vehicle components, etc., can solve problems such as high cost, small space, and difficult protection
Active Publication Date: 2021-04-09
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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[0100] The present invention takes the first basic unit as an example to illustrate the self-adaptation process, and the principle of the self-adaptation process of the second basic unit is consistent with that of the first basic unit.
[0101] The adaptive process of the first basic unit of the present invention is:
[0102] The present invention takes figure 2 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.
[0103] Such as Figure 7 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];
[0104] Before the contact, the relative movement direction of the object X and t...
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The invention discloses a multi-legged robot suitable for physical interaction in an unstructured environment, comprising: a multi-legged robot body and a leg structure, and the network structure of the leg structure is a first basic unit and a second basic unit , a superposition of a first basic unit and a plurality of second basic units, or a superposition of a plurality of second basic units; the first superstructure of the first basic unit includes a first node, and the first lower structure includes at least Three non-collinear second nodes, the first node and all second nodes form a three-dimensional network structure through connecting rods; the second upper structure of the second basic unit includes at least two third nodes, and the second lower structure includes at least two four fourth nodes, at least two fourth nodes and at least two third nodes are not coplanar, and all third nodes and all fourth nodes form a three-dimensional network structure through connecting rods. When the multi-legged robot passes through complex terrain, the leg structure is adaptive to the external environment geometry.
Description
technical field [0001] The invention relates to the technical field of robot design, in particular to a multi-legged robot 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 structure or only a small amount of modification. important manifestation. [0004] Although the exist...
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IPC IPC(8): B62D57/032B60R16/02
CPCB60R16/02B62D57/032
Inventor 宋超阳万芳
Owner SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA