Adaptive underactuation track robot

Abstract

The invention discloses an adaptive underactuation track robot, which comprises a robot vehicle body, a first main track, a second main track, a first planet track, a second planet track, a first driving shaft and a second driving shaft. The first main track and the second main track as well as the first planet track and the second planet track are symmetrically mounted on the two sides of the robot vehicle body correspondingly, and the first planet track and the second planet track are mounted at the front end of the robot. The first driving shaft transmits power output by a first motor to the first main track and the first planet track, the second driving shaft transmits power output by a second motor to the second main track and the second planet track, and thus the robot is driven to move; when the first planet track and the second planet track travel on the flat ground, the front ends of the first planet track and the second planet track are tightly attached to the ground to be used as tracks, and when encountering obstacles such as steps, the first planet track and the second planet track can turn over around the first driving shaft and the second driving shaft to achieve passive adaptive obstacle crossing; and the robot can achieve the functions such as travelling, steering and obstacle crossing by being driven by only the two motors, thus the self-weight is decreased, the obstacle crossing time is shortened, the control cost is lowered, and the endurance time is prolonged.

Description

technical field [0001] The invention belongs to the technical field of robots, relates to a ground mobile robot, in particular to an adaptive underactuated crawler robot. Background technique [0002] Tracked mobile robots have been extensively studied due to their large ground area, small ground specific pressure, small turning radius, and stable operation during movement, and are gradually used in anti-terrorism, EOD, and military investigations. Patents US6263989 and CN108216400A respectively disclose a crawler robot. Two crawler robots are equipped with two swing arm crawlers on both sides of the main crawler at the front end to assist the robot to overcome obstacles. Improve the passability and obstacle-surmounting ability of the robot; when the two crawler robots overcome obstacles, they need to use remote control equipment to control the rotation of the robot's swing arm, and adjust to a certain posture to assist the robot to climb up the obstacle. On the one hand, t...

AI Technical Summary

Problems solved by technology

On the one hand, this obstacle-crossing method requires three motors to work in coordination, which increases the overall weight and energy consumption of the robot; Complicated, long obstacle crossing time

Images