Parallel bionic mobile platform with adjustable gravity center

Abstract

The invention discloses a parallel bionic mobile platform with the adjustable gravity center. The parallel bionic mobile platform with the adjustable gravity center comprises front wheels, a front vehicle body, rear wheels, a rear vehicle body, a reconfigurable parallel bionic trunk, a gravity center adjusting device and a master control panel; the reconfigurable parallel bionic trunk comprises a left SPR branch chain, a right SPR branch chain, an SPS branch chain and a UPva branch chain, the left SPR branch chain, the right SPR branch chain and the SPS branch chain are connected between the front vehicle body and the rear vehicle body, and the UPva branch chain is located above the SPS branch chain; the UPva branch chain comprises a first universal pair, a first moving pair and a reconfigurable kinematic pair, the reconfigurable kinematic pair comprises a semicircular ring, a left arc-shaped piece, a right arc-shaped piece and a T-shaped hinge, one end of the left arc-shaped piece and one end of the right arc-shaped piece are hinged to the two sides of the axis of the top of the T-shaped hinge respectively, the left arc-shaped piece and the right arc-shaped piece are oppositely and symmetrically arranged, and the other ends of the left and right arc-shaped pieces are respectively hinged to two ends of the inner side of the semicircular ring; and the gravity center adjusting device is composed of a disc-shaped base, a rotating motor and a balancing weight. According to the scheme, the gait of a quadruped organism can be simulated, the device better adapts to the terrain, and the obstacle passing capacity is improved.

Description

technical field [0001] The invention belongs to the technical field of mechanics and robotics, in particular to a parallel bionic mobile platform with an adjustable center of gravity. Background technique [0002] As a national strategy, intelligent mobile robots are playing an increasingly important role in national defense, military, aviation and other fields. Among the currently known mobile robots, wheeled mobile robots have the highest flexibility and mobility, but the disadvantages of ordinary wheeled robots are also obvious. Limited by the chassis constraints and wheel diameter constraints of wheeled robots, their non-structural The ability to pass through the terrain is poor, and the current solutions are various, such as increasing the number of wheels, using deformable wheels, and wheel-leg fusion. [0003] For example, a deformable crawler-type walking device disclosed in patent CN110304161B, by installing four deformable crawler wheels and an overturning mechani...

AI Technical Summary

Problems solved by technology

Adopting this scheme sacrifices the advantage of strong flexibility of the wheeled robot, and at the same time makes the wheel part of the robot too complicated. When climbing over obstacles, it still needs to rely on methods such as expanding the wheel diameter to achieve the leap.

Images