Multi-motion mode moving parallel mechanism suitable for unstructured terrain and gait control method

Abstract

The invention discloses a multi-motion mode moving parallel mechanism suitable for unstructured terrain and a gait control method. The multi-motion mode moving parallel mechanism suitable for the unstructured terrain comprise an upper platform, a lower platform, Hooke hinge assemblies and connecting rods, wherein the upper platform and the lower platform are arranged oppositely in parallel in a spaced mode, the ends of the upper platform and the lower platform are provided with the Hooke hinge assemblies and rotatably connected with the Hooke hinge assemblies, steering engines are installed atthe ends, far away from the upper platform and the lower platform, of the Hooke hinge assemblies, and the connecting rods are installed between the Hooke hinge assemblies at the same ends of the upper platform and the lower platform. The gait control method comprises a full-posture rolling mode, a variable-width rolling mode, a switching mode and a side rolling mode. The multi-motion mode movingparallel mechanism suitable for the unstructured terrain and the gait control method have the beneficial effects that the adaptability is good, and the application prospects are very good; and the parallel mechanism is adopted overall, and compared with a traditional chain opening mechanism, the parallel mechanism has the advantages of being simple in structure, good in rigidity and high in bearing capacity. According to the foldable multi-motion mode moving parallel mechanism, the steering engines in the mechanism can be controlled in a time-sharing manner, and free switching among differentmodes can be realized.

Description

Technical field: [0001] The invention belongs to the field of mobile parallel robots, in particular to a mobile parallel mechanism with multiple motion modes. Background technique: [0002] With the upsurge of robot development, mobile robots have been used in many fields, such as fire fighting, lunar exploration, military reconnaissance, and anti-terrorist explosives and other autonomous tasks. Robots in this way can no longer adapt to complex and changeable environments. Therefore, multi-mode mobile mechanisms are the requirements for the development of mobile robots today. [0003] At present, there are Rolling-Wolf wheel-legged mobile robots developed by Chongqing University that integrate and switch multiple mobile modes on the same mechanism, and the QRIO humanoid robot launched by Sony Corporation. Although the above robots have multiple movement modes, It realizes multi-motion modes in a modular self-reconfiguration method, which has disadvantages such as complex co...

AI Technical Summary

Problems solved by technology

[0002]With the upsurge of robot development, mobile robots have been used in many fields, such as fire fighting, moon exploration, military reconnaissance, and anti-terrorist explosives and other autonomous tasks. The environment is often a multi-featured task environment where flatness and ruggedness coexist. Robots with a single motion mode can no longer adapt to complex and changeable environments. Therefore, multi-mode mobile mechanisms are the needs of the development of mobile robots today.

[0003] At present, there are Rolling-Wolf wheel-legged mobile robots developed by Chongqing University, and Sony's QRIO humanoid robot, although the above robot has multiple motion modes, it realizes multiple motion modes in a modular self-reconfiguration mode, which has disadvantages such as complex control, insufficient stiffness, and insufficient precision.

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