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UP and UPS-based parallel structure wheel foot mobile robot

A mobile robot and robot technology, applied in the field of robotics, can solve the problems of complex mechanical structure, poor system stability, large power loss, etc., and achieve the effects of high control accuracy, high mechanical rigidity, and reduction of ineffective wear and tear.

Active Publication Date: 2020-11-17
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the six degrees of freedom of the robot's legs require six independent motors to control, the control is more complicated, the system stability is poor, and the rolling power of the wheels is transmitted through the intermediate drive shaft, the power loss is large, and the mechanical structure is relatively complex. complex, less reliable

Method used

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  • UP and UPS-based parallel structure wheel foot mobile robot
  • UP and UPS-based parallel structure wheel foot mobile robot
  • UP and UPS-based parallel structure wheel foot mobile robot

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Embodiment Construction

[0051]The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0052] The invention provides a wheel-foot mobile robot with parallel structure based on UP and UPS, such as figure 1 , 2 As shown, it includes a frame 13 and a plurality of mechanical leg assemblies 20. The mechanical leg assembly 20 is provided with a wheel retractable device 30. One end of the mechanical leg assembly 20 is movably matched with the frame 13. The mechanical leg assembly The other end is a free end. The robot includes a wheeled motion mode and a footed motion mode. The robot can switch ...

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Abstract

The invention provides a UP and UPS-based parallel structure wheel foot mobile robot which comprises a rack and six mechanical leg assemblies, a supporting plate is arranged on the rack, each mechanical leg assembly comprises a power telescopic device and a walking foot end, a wheel retracting and releasing device is mounted on each power telescopic device. Wheels are arranged on the wheel retracting and releasing device, one end of the power telescopic device is movably matched with the walking foot end, and the other end of the power telescopic device is installed on the supporting plate. The robot comprises a wheel type motion mode and a foot type motion mode, the robot can be switched between the wheel type motion mode and the foot type motion mode according to different scenes, a parallel mechanical structure is adopted, the mechanical rigidity is large, and the large-bearing requirement can be met; and the expansion amount, corresponding to the pose of the rack, of the semispherical walking foot end can be determined through calculation and unique, the control precision is high, and the stability is high.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a wheel-foot mobile robot with parallel structure based on UP and UPS. Background technique [0002] Autonomous mobile robots can carry some specific equipment to go deep into harsh or even dangerous environments to perform tasks such as environmental exploration, personnel search and rescue, and material transportation. Common mobile robots include wheeled, footed, tracked and composite mechanisms. The limitations of a single form of mobile robot are more prominent, and the ability to adapt to complex terrain is insufficient, while the wheel-foot composite robot combines the advantages of fast moving speed of wheeled robots and strong obstacle-surmounting ability of footed robots, and small turning radius. Good terrain adaptability and maneuverability. The common wheel-foot composite robot adopts a series mechanism, which has the advantage of simple structure, but its carrying ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 齐臣坤高峰李化洋邢琰贾骏恺陈先宝胡勇
Owner SHANGHAI JIAO TONG UNIV
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