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Assembled multi-legged robot with variable foot end tracks and control method

A multi-legged robot and assembled technology, applied in the direction of non-electric variable control, attitude control, control/adjustment system, etc., can solve the problems of non-adjustable, fixed structure, low flexibility, etc.

Active Publication Date: 2021-11-26
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Most of the current robots are designed to be non-removable, fixed, and non-adjustable structures, with a single functional structure and low flexibility. Once a part is damaged, the entire system will be affected and stop working, and the robustness is poor.

Method used

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  • Assembled multi-legged robot with variable foot end tracks and control method
  • Assembled multi-legged robot with variable foot end tracks and control method
  • Assembled multi-legged robot with variable foot end tracks and control method

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Embodiment Construction

[0036] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0037] The present invention will be further described below in conjunction with the accompanying drawings.

[0038] Such as figure 1 As shown, the present invention provides an assembled multi-legged robot with variable foot trajectory. The multi-legged robot is formed by joining several robot monomers through magnetic balls. figure 1 Examples of four robotic monoliths are given.

[0039] Such as Figure 2-4 As shown, each single robot includes a main body 1, a DC motor 6, a DC motor drive board 9, a mechanical foot, a rotation angle potentiometer 5, a controller 7 and a power supply 8; the structure of the main body 1 can be made by 3D printing.

[0040] The DC motor 6 is embedded and mounted on the left and right sides of the main body 1, controlled by t...

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Abstract

The invention discloses an assembled multi-legged robot with variable foot end tracks and a control method, the robot is formed by connecting a plurality of robot monomers through magnetic balls, the robot is driven by a direct current motor controlled by a PID algorithm, rotation of the direct current motor is converted into swing through an adjustable planar four-bar mechanism. A closed curve is formed at the foot end of the robot, the robot is made to move forwards, the rotating position and speed of a motor in the moving process are collected by a rotating angle potentiometer to a controller, the robot is endowed with certain flexibility through spherical magnetic connection, the robot can be extended and expanded, and the robot can normally move frontwards when a middle single member is damaged; according to the assembled multi-legged robot and the control method provided by the invention, the implementation is simple, and the robustness and operability of the robot are improved.

Description

technical field [0001] The invention relates to a robot application platform and belongs to the field of robot control, in particular to an assembled multi-leg robot with variable foot end tracks and a control method. Background technique [0002] In nature, all kinds of creatures have evolved amazing abilities and characteristics to adapt to the complex and changeable living environment. These excellent biological properties provide various inspirations for human creation and design. By learning and imitating the characteristics and functions of certain creatures, humans can improve their ability to adapt and transform nature. Therefore, in recent years, research on bionic robots has attracted widespread attention, among which multi-legged soft robots inspired by centipedes have gradually become a hot topic. At this stage, it seems that the environmental adaptability of legged robots is stronger than that of wheeled and tracked robots, and can adapt to different complex t...

Claims

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Application Information

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IPC IPC(8): B62D57/032G05D1/08
CPCB62D57/032G05D1/0891
Inventor 向平宇王越陈词陆豪健熊蓉
Owner ZHEJIANG UNIV
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