Investigation mobile robot based on continuum mechanism

Abstract

The invention discloses an investigation mobile robot based on a continuum mechanism, and belongs to the field of reconnaissance and survey. The investigation mobile robot based on the continuum mechanism is composed of a four-degree-of-freedom mechanical arm based on a continuum mechanism, a Mecanum wheel omni-directional moving four-wheel chassis and a camera, and is characterized in that the camera is controlled by movement of the mechanical arm, the mechanical arm is composed of the continuum mechanism, the continuum mechanism is driven by a steel wire, and the steel wire is controlled by a stepping motor; and movement of the chassis is driven by a direct-current gear motor, the motor controls Mecanum wheels, and the Mecanum wheels achieve omni-directional movement. The investigation mobile robot based on the continuum mechanism adopts a flexible structure similar to a trunk based on the continuum mechanism and is not provided with a single-component joint and a rigid connecting rod; and the robot has the excellent bending characteristic which a traditional robot does not have, the shape of the robot can be flexibly changed, the robot has high environment adaptability, so that tasks, such as earthquake search and rescue and military reconnaissance, which are greatly limited by environmental factors are excellently completed.

Description

technical field [0001] The invention relates to the field of reconnaissance robots, in particular to a reconnaissance mobile robot based on a continuum mechanism. Background technique [0002] With the rapid development of science and technology, robots have been widely used in medical treatment, scientific exploration, industrial production and other fields. Although the traditional rigid link robot has the advantages of precise operation, due to the complex and changeable environment of the detection task, coupled with the rigidity of the structure, it has poor environmental adaptability, the movement in a specific space will be severely restricted, and it cannot pass the shape. Complicated channels, these shortcomings greatly cut down the working efficiency of rigid link robots in some fields. For example, in earthquake rescue, robots are required to go deep into the ruins to detect, and in military reconnaissance, robots are required to pass through narrow spaces due to...

AI Technical Summary

Problems solved by technology

[0003] In view of the above, the environment of the detection task is complex and changeable, and the rigidity of the structure makes it poor in adaptability to the environment, the movement in a specific space will be severely restricted, and it is impossible to pass through channels with complex shapes. The present invention provides a method based on continuous mobile robot for reconnaissance of bodies

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