A multi-loop spherical robot based on bricard mechanism derivation
The multi-loop spherical robot, which combines the Bricard mechanism with a spherical shell, achieves both flexible spatial movement and stability. It has three gaits: passive rolling, peristalsis, and spin, which solves the problem of the single movement mode of existing spherical robots and realizes diversified movement capabilities.
CN120902846BActive Publication Date: 2026-06-23BEIJING JIAOTONG UNIV
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Patent Information
- Application Number
- CN202511173519.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-21
- Publication Date
- 2026-06-23
- Estimated Expiration
- 2045-08-21
AI Technical Summary
Technical Problem
Existing spherical robots struggle to achieve both flexible spatial movement and stability during operation, and their movement methods are limited.
Method used
A multi-loop spherical robot based on the Bricard mechanism is adopted. By combining the Bricard mechanism with the spherical shell, a single-degree-of-freedom driven spherical robot is formed. The drive motor drives the movement of the linkage and the spherical shell to achieve three gaits: passive rolling, peristalsis and spin.
Benefits of technology
It enables spherical robots to move quickly on flat surfaces, perform stable and precise linear motion with small steps, and flexibly change their direction of movement, adapting to different work requirements by switching gait modes.
✦ Generated by Eureka AI based on patent content.
Abstract
The application relates to mobile robot technology and particularly relates to a multi-loop spherical robot derived from a Bricard mechanism, which is composed of a first spherical shell, a second spherical shell, a third spherical shell, a fourth spherical shell, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a first connecting base, a second connecting base, a third connecting base, a fourth connecting base, a fifth connecting base and a sixth connecting base, and a driving motor, wherein the multi-loop derived from the Bricard mechanism is combined with the spherical shell, a new configuration of a single-degree-of-freedom driving spherical robot is obtained, and the spherical robot has the motion ability of a tumbling gait, a peristalsis gait and a self-rotation gait.
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