Combined tetrahedral movable robot

A mobile robot and tetrahedron technology, applied in the fields of detection, reconnaissance, and carrying, can solve the problems of single moving gait, rolling gait and strong ground impact, etc., and achieve the effect of easy folding and storage, easy processing and manufacturing, and simple structure

Active Publication Date: 2020-01-17
BEIJING JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a design method of combining tetrahedron vertices and branch chains to enhance the overall performance of the tetrahedron robot in order to solve the problems of the existing tetrahedron mobile robot with a single moving gait and a rolling gait subject to strong ground impact. ability to move

Method used

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Embodiment Construction

[0034] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0035] A combined tetrahedral mobile robot, such as figure 1 As shown, it includes the first to fourth six-pointed vertices (1, 2, 3, 4), the first to fourth three-pointed points (5, 6, 7, 8), the first to eighteenth branches (9 , 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26).

[0036] The first six-pronged vertex (1), such as figure 2 As shown, it consists of a triangular platform (1-1), six U-shaped plates (1-2), a support column (1-3), a trident plate (1-4) and a hemispherical apex (1-5); the second Up to the fourth hexapex (2, 3, 4) has exactly the same structure and dimensions as the first hexapex (1).

[0037] The first trident vertex (5), such as Figure 8 As shown, it consists of a bottom triangular platform (5-1), three bottom U-shaped plates (5-2), a long support cylinder (5-3), a short support cylinder (5-4) and a single ...

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Abstract

The invention discloses a combined tetrahedral movable robot which comprises six-fork vertexes from first to fourth, three-fork vertexes from first to fourth and branch chains from first to eighteenth. The first six-fork vertex is connected with the first, second, third, seventh, tenth and thirteenth branch chains. The second six-fork vertex is connected with the first, fourth, sixth, twelfth, fourteenth and eighteenth chain chains. The third six-fork vertex is connected with the second, fourth, fifth, eighth, fifteenth and sixteenth branch chains. The fourth six-fork vertex is connected withthe third, fifth, sixth, ninth, eleventh and seventeenth branch chains. The first three-fork vertex is connected with the branch chains from seventh to ninth. The second three-fork vertex is connectedwith the branch chains from tenth to twelfth. The third three-fork vertex is connected with the branch chains from thirteenth to fifteenth. The fourth three-fork vertex is connected with the branch chains from sixteenth and eighteenth. After the connections are completed, the robot represents the five-regular-tetrahedron-combined appearance. The robot can move on the ground in all directions by changing postures and can be used for reconnaissance, detection and the like.

Description

technical field [0001] The present invention designs a combined tetrahedron mobile robot. By designing and arranging the rods and vertices of the combined tetrahedron composed of a central tetrahedron and four tetrahedrons coplanar with it, the robot can obtain abundant space transformability. attitude, and has the ability to move in all directions on the ground. The invention can be used in the fields of reconnaissance, detection, carrying and the like. Background technique [0002] Compared with other tetrahedral robots, combined tetrahedral mobile robots have richer deformation capabilities, better ground adaptability, and omnidirectional mobility characteristics. [0003] Chinese patent CN 105835972A discloses a "double tetrahedral telescopic mobile robot". The robot is composed of nine telescopic units connected by five Hooke hinge vertices. It is simple and has a certain movement ability, but the movement of the mechanism depends on the telescopic unit with a large e...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/10
CPCB25J9/106B25J11/00
Inventor 姚燕安刘然
Owner BEIJING JIAOTONG UNIV
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