Wheel-foot mobile robot with parallel structure based on up and ups

A mobile robot and wheel foot technology, applied in the field of robotics, can solve problems such as complex mechanical structure, poor system stability, and large power loss, and achieve the effects of high control accuracy, high mechanical rigidity, and reduced ineffective wear

Active Publication Date: 2022-06-28
SHANGHAI JIAOTONG 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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  • Wheel-foot mobile robot with parallel structure based on up and ups
  • Wheel-foot mobile robot with parallel structure based on up and ups
  • Wheel-foot mobile robot with parallel structure based on up and ups

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Embodiment Construction

[0051]The present invention will be described in detail below with reference to 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, for those skilled in the art, several changes and improvements can be made without departing from the inventive concept. These all belong to the protection scope of the present invention.

[0052] The invention provides a wheel-foot mobile robot with a 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 storage 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 the free end. The robot includes a wheeled motion mode and a footed motion mode. The robot can switch between ...

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Abstract

The invention provides a wheel-foot mobile robot with parallel structure based on UP and UPS, which includes a frame and six mechanical leg assemblies. end, the power telescopic device is equipped with a wheel retractable device, the wheel retractable device is provided with wheels, 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 support plate. The robot includes a wheeled motion mode and a footed motion mode. The robot can switch between the wheeled motion mode and the footed motion mode according to different scenarios. The present invention adopts a parallel mechanical structure with high mechanical rigidity and can meet large load requirements. In addition, the expansion and contraction of the hemispherical walking foot relative to the pose of the frame can be determined and unique through calculation, with high control precision and strong stability.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a wheel-foot mobile robot with a 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, crawler, and compound mechanisms. A single form of mobile robot has obvious limitations and insufficient adaptability to complex terrain, while the wheel-foot compound robot combines the advantages of the wheeled robot's fast movement speed, strong obstacle-surmounting ability and small turning radius of the wheeled robot. Good terrain adaptability and maneuverability. The common wheel-foot compound robot adopts a series mechanism, which has the advantage of simple mechanism, but its carrying capacity is poor and c...

Claims

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Application Information

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Patent Type & Authority Patents(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 JIAOTONG UNIV
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