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UPS-based parallel structure wheel-foot mobile robot

A mobile robot and robot technology, applied in the field of robotics, can solve the problem of insufficient stability of the robot, and achieve the effects of large carrying capacity, good movement flexibility, and reduced complexity.

Active Publication Date: 2020-11-24
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This technology combines the advantages of wheeled and footed movements, and has certain terrain adaptability and good bearing capacity. However, its leg structure has only four degrees of freedom in space, and it still has the ability to perform footed movements. certain movement limitations
In addition, the number of mechanical legs is four, and the stability of the robot is insufficient during complex terrain movement.

Method used

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

Examples

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Embodiment Construction

[0048] 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.

[0049] The invention provides a UPS-based parallel structure wheel-foot mobile robot, such as figure 1 , figure 2As shown, it includes a wheel 1, a support carrier 15 and a plurality of mechanical leg assemblies 20, and one end of the plurality of mechanical leg assemblies 20 is evenly arranged along the circumferential direction of the lower side of the support carrier 15, and the wheel 1 is installed on the mechanical leg The other end of the assembly 20, in a preferred example, the number of the me...

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PUM

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Abstract

The invention provides a UPS-based parallel structure wheel-foot mobile robot. The UPS-based parallel structure wheel-foot mobile robot comprises wheels, a support carrier and six mechanical leg assemblies, wherein one ends of the six mechanical leg assemblies are uniformly arranged in the circumferential direction of the lower side of the support carrier, the wheels are mounted at the other endsof the mechanical leg assemblies, the robot comprises a wheel type motion mode and a foot type motion mode and can be switched between the wheel type motion mode and the foot type motion mode according to different scenes, in the wheel type motion mode, the circumferential faces of the wheels touch the ground and move in a wheel rolling mode, and in the foot type movement mode, the side faces of the wheels touch the ground and move in a foot type walking mode. According to the UPS-based parallel structure wheel-foot mobile robot, a 3UPS parallel type six-degree-of-freedom mechanical arm structure is adopted, so that the flexibility is high, the bearing capacity is high, more sensors can be carried to execute more complex exploration tasks, the motion input corresponding to the pose of thefoot end relative to a rack can be determined and unique through calculation, 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 UPS-based parallel structure wheel-foot mobile robot. Background technique [0002] Most of the mobile robots that have been applied at this stage are wheeled, legged, and crawler-type structures. Among them, wheeled robots have faster moving speeds and excellent maneuverability, but they can only be used on flat ground with little undulating terrain. Walking on the ground has greater terrain limitations; footed robots have better terrain adaptability and can walk on undulating ground, but their moving speed is slower, and walking on flat ground is comparable to wheeled robots. The specific energy consumption is large; compared with wheeled robots, crawler robots have better adaptability to the ground, and can pass through some terrain with small ravines, but their volume and weight are large and their movements are not flexible enough. The compound motion robot represented by ...

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胡勇陈先宝
Owner SHANGHAI JIAO TONG UNIV
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