A rhombic dodecahedron mobile robot

Abstract

The application discloses a rhombicuboctahedron mobile robot, which comprises first to sixth vertex units and first to twelfth driving units, the first to sixth vertex units are connected through the driving units, in the initial state, each unit presents a quadrilateral shape, the whole robot is in the shape of a rhombicuboctahedron, a deformation mode of face center driving is adopted, the deformation of each single degree of freedom quadrilateral unit is realized by controlling the steering angle of a steering wheel, and then the overall deformation is realized, the robot can roll and move by taking the triangular face composed of the quadrilateral link units or the rods as support, rich deformation and movement modes can be realized, the spherical shape can make the robot realize rapid movement, and the grid structure makes the robot have high rigidity and environmental adaptability, and the application can be used for unmanned detection tasks in a field environment.

Description

Technical Field

[0001] This application belongs to the field of mobile robot technology, and in particular relates to a rhombohedral octahedral mobile robot for unmanned exploration missions in the field environment. Background Technology

[0002] The rhombohedral octahedral mobile robot is a link-type polyhedral mobile robot constructed based on the geometric shape of a rhombohedral octahedron. The rhombohedral octahedron is composed of equilateral triangular and square faces, exhibiting high symmetry and possessing rich deformation and omnidirectional movement capabilities. Compared to existing polyhedral mobile robots that mostly use triangular faces formed by vertices and links as supporting planes, this invention primarily uses planes formed by quadrilateral link units as supporting planes, and can also achieve similar use of triangular faces as supporting planes, resulting in a richer range of movement modes. Unlike previous polyhedral robots that deform through the extension or bending of branches, this invention employs a face-center driven deformation method. The overall shape of the rhombohedral octahedral robot changes through the deformation of quadrilateral link units, and it can achieve tumbling movement through deformation. Furthermore, its highly symmetrical, spherical shape allows the robot to move rapidly.

[0003] Chinese patent CN 216883982U proposes a deformable amphibious robot. The robot's transmission module connects the output shaft to the telescopic arm via a coupling in the center. The telescopic arm is connected to a rotor module, which is fixed inside a U-shaped module. The U-shaped module and the telescopic module form a regular octahedron shape. By controlling the extension and retraction of the telescopic arm, the robot's center position can be changed, enabling it to roll and overcome obstacles on the ground.

[0004] Chinese patent CN 117208106A proposes a fully R-type third-order tetrahedral mobile robot. This robot consists of four vertex modules and six branch modules. The vertices and branches are connected, giving the robot a tetrahedral composite shape. It is a link-type polyhedral mobile robot with a tetrahedral geometry. The robot deforms by driving the branches to rotate inwards and outwards via servo motors, and then achieves tumbling movement by shifting its center of mass. Summary of the Invention

[0005] The technical problem this invention aims to solve is the limited mobility, deformation capabilities, and low speed of existing polyhedral mobile robots. This invention designs a link-type polyhedral mobile robot with a rhombohedral octahedral geometry. Its highly symmetrical shape allows the robot to employ similar deformation and movement strategies in different poses, providing omnidirectional mobility. It can perform tumbling movements using quadrilateral link units or triangular surfaces composed of links as supports, enabling rich deformation and movement modes. The deformation is driven by the center of the quadrilateral link unit surface, allowing the robot to deform and move. Its spherical shape enables rapid movement.

[0006] The technical solution of the present invention: The rhombic octahedral mobile robot includes a first vertex unit, a second vertex unit, a third vertex unit, a fourth vertex unit, a fifth vertex unit, a sixth vertex unit, a first driving unit, a second driving unit, a third driving unit, a fourth driving unit, a fifth driving unit, a sixth driving unit, a seventh driving unit, an eighth driving unit, a ninth driving unit, a tenth driving unit, an eleventh driving unit, and a twelfth driving unit.

[0007] The first vertex unit includes a front link, a rear link, a left link, and a right link; the second, third, fourth, fifth, and sixth vertex units have the same structural dimensions as the first vertex unit.

[0008] The first drive unit includes a front link, a rear link, a left link, a right link, an outer link, an inner link, and a servo motor. The second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, and twelfth drive units have the same structural dimensions as the first drive unit.

[0009] The connection relationship between the vertex unit and the driver unit is as follows:

[0010] The front through hole of the left connecting rod of the first vertex unit of the first vertex unit and the front through hole of the right connecting rod of the first drive unit of the first drive unit are connected by bolts to form a rotating joint; the front through hole of the front connecting rod of the first vertex unit and the front through hole of the right connecting rod of the eighth drive unit of the eighth drive unit are connected by bolts to form a rotating joint; the front through hole of the right connecting rod of the first vertex unit and the front through hole of the left connecting rod of the fourth drive unit of the fourth drive unit are connected by bolts to form a rotating joint; the front through hole of the rear connecting rod of the first vertex unit and the front through hole of the left connecting rod of the fifth drive unit of the fifth drive unit are connected by bolts to form a rotating joint.

[0011] The front through hole of the left connecting rod of the second vertex unit and the front through hole of the right connecting rod of the second drive unit are connected by bolts to form a rotating joint. The front through hole of the front connecting rod of the second vertex unit and the front through hole of the left connecting rod of the ninth drive unit are connected by bolts to form a rotating joint. The front through hole of the right connecting rod of the second vertex unit and the front through hole of the left connecting rod of the first drive unit are connected by bolts to form a rotating joint. The front through hole of the rear connecting rod of the second vertex unit and the front through hole of the right connecting rod of the twelfth drive unit are connected by bolts to form a rotating joint.

[0012] The front through hole of the left connecting rod of the third vertex unit and the front through hole of the right connecting rod of the third drive unit are connected by bolts to form a rotating joint. The front through hole of the front connecting rod of the third vertex unit and the front through hole of the right connecting rod of the seventh drive unit are connected by bolts to form a rotating joint. The front through hole of the right connecting rod of the third vertex unit and the front through hole of the left connecting rod of the second drive unit are connected by bolts to form a rotating joint. The front through hole of the rear connecting rod of the third vertex unit and the front through hole of the left connecting rod of the seventh drive unit are connected by bolts to form a rotating joint.

[0013] The front through hole of the left connecting rod of the fourth vertex unit and the front through hole of the right connecting rod of the fourth drive unit are connected by bolts to form a rotating joint. The front through hole of the front connecting rod of the fourth vertex unit and the front through hole of the left connecting rod of the eleventh drive unit are connected by bolts to form a rotating joint. The front through hole of the right connecting rod of the fourth vertex unit and the front through hole of the left connecting rod of the third drive unit are connected by bolts to form a rotating joint. The front through hole of the rear connecting rod of the fourth vertex unit and the front through hole of the right connecting rod of the tenth drive unit are connected by bolts to form a rotating joint.

[0014] The front through hole of the left connecting rod of the fifth vertex unit is connected to the front through hole of the left connecting rod of the tenth drive unit by bolts to form a rotating joint; the front through hole of the front connecting rod of the fifth vertex unit is connected to the front through hole of the left connecting rod of the eighth drive unit by bolts to form a rotating joint; the front through hole of the right connecting rod of the fifth vertex unit is connected to the front through hole of the right connecting rod of the ninth drive unit by bolts to form a rotating joint; and the front through hole of the rear connecting rod of the fifth vertex unit is connected to the front through hole of the right connecting rod of the seventh drive unit by bolts to form a rotating joint.

[0015] The front through hole of the left connecting rod of the sixth vertex unit is connected to the front through hole of the right connecting rod of the eleventh drive unit by bolts to form a revolute joint. The front through hole of the front connecting rod of the sixth vertex unit is connected to the front through hole of the left connecting rod of the sixth drive unit by bolts to form a revolute joint. The front through hole of the right connecting rod of the sixth vertex unit is connected to the front through hole of the left connecting rod of the twelfth drive unit by bolts to form a revolute joint. The front through hole of the rear connecting rod of the sixth vertex unit is connected to the front through hole of the right connecting rod of the fifth drive unit by bolts to form a revolute joint.

[0016] The first vertex unit includes a front link, a rear link, a left link, and a right link. In the initial state, the links connected to the first vertex unit are perpendicular to each other and form a regular quadrilateral shape.

[0017] The first vertex unit front connecting rod is provided with a left through hole, a right through hole, and a front through hole. The left through hole and the right through hole are parallel to each other, and the axis of the front through hole is perpendicular to them. The rear connecting rod of the first vertex unit has the same structural dimensions as the front connecting rod.

[0018] The first vertex unit left connecting rod is provided with a left through hole, a right through hole, and a front through hole. The left through hole and the right through hole are parallel to each other, and the front through hole is perpendicular to them. The first vertex unit right connecting rod has the same structural dimensions as the first vertex unit left connecting rod.

[0019] The connection method of the first vertex unit member is as follows:

[0020] The left through hole of the first vertex unit front link and the right through hole of the first vertex unit left link are fixedly connected by bolts, and the right through hole of the first vertex unit front link and the left through hole of the first vertex unit right link are fixedly connected by bolts.

[0021] The left through hole of the rear link of the first vertex unit and the right through hole of the right link of the first vertex unit are fixedly connected by bolts, and the right through hole of the rear link of the first vertex unit and the left through hole of the left link of the first vertex unit are fixedly connected by bolts.

[0022] The first drive unit includes a front link, a rear link, a left link, a right link, an outer link, an inner link, and a servo motor. In the initial state, the links of the first drive unit are perpendicular to each other and form a regular quadrilateral shape.

[0023] The first drive unit front link has a left through hole, a right through hole, and a middle through hole, with the axes of the through holes being parallel. The first drive unit rear link has the same structural dimensions as the first drive unit front link.

[0024] The first drive unit left connecting rod is provided with a left through hole, a right through hole, a front through hole, and a rear through hole. The left through hole and the right through hole are parallel to each other, and the front and rear through holes are perpendicular to each other. The first drive unit right connecting rod has the same structural dimensions as the first drive unit left connecting rod.

[0025] The first drive unit outer connecting rod is provided with a left through hole, a right through hole, and a middle through hole, and the axes of the through holes are parallel.

[0026] The connecting rod inside the first drive unit is provided with a left through hole, a right through hole, and a middle through hole, and the axes of the through holes are parallel.

[0027] The connection method of the first drive unit rod is as follows:

[0028] The left through hole of the first drive unit front link and the right through hole of the first drive unit left link are fixedly connected by bolts, and the right through hole of the first drive unit front link and the left through hole of the first drive unit right link are fixedly connected by bolts.

[0029] The left through hole of the rear link of the first drive unit and the right through hole of the right link of the first drive unit are fixedly connected by bolts, and the right through hole of the rear link of the first drive unit and the left through hole of the left link of the first drive unit are fixedly connected by bolts.

[0030] The left through hole of the first drive unit's outer connecting rod is connected to the middle through hole of the first drive unit's front connecting rod by bolts to form a rotating joint; the right through hole of the first drive unit's outer connecting rod is connected to the middle through hole of the first drive unit's rear connecting rod by bolts to form a rotating joint; and the middle through hole of the first drive unit's outer connecting rod is fixedly connected to the servo motor by bolts.

[0031] The left through hole of the first drive unit's inner connecting rod and the rear through hole of the left connecting rod of the first drive unit are connected by bolts to form a rotating joint. The right through hole of the first drive unit's inner connecting rod and the rear through hole of the right connecting rod of the first drive unit are connected by bolts to form a rotating joint. The middle through hole of the first drive unit's inner connecting rod is fixedly connected to the servo motor by bolts.

[0032] The beneficial effects of this invention are:

[0033] The rhombohedral octahedral mobile robot described in this invention is based on a rhombohedral octahedral geometry and possesses rich deformable and omnidirectional movement capabilities. It adopts a face-center driven deformation method, and the overall shape of the rhombohedral octahedral robot changes through the deformation of quadrilateral linkage units. It can also achieve tumbling movement through deformation, and its highly symmetrical spherical shape enables the robot to move rapidly. The mesh structure gives the robot high rigidity and environmental adaptability, making it suitable for unmanned exploration missions in the field. Attached Figure Description

[0034] Figure 1 Overall 3D model of the rhombic octahedral mobile robot

[0035] Figure 2 3D diagram of the first vertex unit

[0036] Figure 3 Three-dimensional diagram of the first drive unit

[0037] Figure 4 3D diagram of the front link of the first vertex unit

[0038] Figure 5 3D diagram of the left link of the first vertex unit

[0039] Figure 6 3D diagram of the front connecting rod of the first drive unit

[0040] Figure 7 3D diagram of the left connecting rod of the first drive unit

[0041] Figure 8 Three-dimensional diagram of the external connecting rod of the first drive unit

[0042] Figure 9 Three-dimensional diagram of the connecting rod inside the first drive unit Detailed Implementation

[0043] The following is a more detailed explanation with reference to the accompanying drawings.

[0044] A rhombohedral octahedral mobile robot, such as Figure 1As shown, it includes the first vertex unit (A), the second vertex unit (B), the third vertex unit (C), the fourth vertex unit (D), the fifth vertex unit (E), the sixth vertex unit (F), the first driving unit (1), the second driving unit (2), the third driving unit (3), the fourth driving unit (4), the fifth driving unit (5), the sixth driving unit (6), the seventh driving unit (7), the eighth driving unit (8), the ninth driving unit (9), the tenth driving unit (10), the eleventh driving unit (11), and the twelfth driving unit (12).

[0045] The first vertex unit (A) is as follows Figure 2 As shown, the first vertex unit includes a front link (A-1), a rear link (A-2), a left link (A-3), and a right link (A-4); the second vertex unit (B), the third vertex unit (C), the fourth vertex unit (D), the fifth vertex unit (E), and the sixth vertex unit (F) have the same structural dimensions as the first vertex unit (A).

[0046] The first driving unit (1) is as follows Figure 3 As shown, the first drive unit includes a front link (1-1), a rear link (1-2), a left link (1-3), a right link (1-4), an outer link (1-5), an inner link (1-6), and a servo motor (1-7). The second drive unit (2), third drive unit (3), fourth drive unit (4), fifth drive unit (5), sixth drive unit (6), seventh drive unit (7), eighth drive unit (8), ninth drive unit (9), tenth drive unit (10), eleventh drive unit (11), and twelfth drive unit (12) have the same structural dimensions as the first drive unit (1).

[0047] The connection relationship between the vertex unit and the driver unit is as follows:

[0048] The first vertex unit (A) has a left connecting rod front through hole (A-3-3) and the first drive unit (1) has a right connecting rod front through hole (1-4-3) connected by bolts to form a rotating joint. The first vertex unit has a front connecting rod front through hole (A-1-3) and the eighth drive unit (8) has a right connecting rod front through hole (8-4-3) connected by bolts to form a rotating joint. The first vertex unit has a right connecting rod front through hole (A-4-3) and the fourth drive unit (4) has a left connecting rod front through hole (4-3-3) connected by bolts to form a rotating joint. The first vertex unit has a rear connecting rod front through hole (A-2-3) and the fifth drive unit (5) has a left connecting rod front through hole (5-3-3) connected by bolts to form a rotating joint.

[0049] The second vertex unit (B) has a left connecting rod front through hole (B-3-3) and the second drive unit (2) has a right connecting rod front through hole (2-4-3) connected by bolts to form a rotating joint. The second vertex unit has a front connecting rod front through hole (B-1-3) and the ninth drive unit (9) has a left connecting rod front through hole (9-3-3) connected by bolts to form a rotating joint. The second vertex unit has a right connecting rod front through hole (B-4-3) and the first drive unit (1) has a left connecting rod front through hole (1-3-3) connected by bolts to form a rotating joint. The second vertex unit has a rear connecting rod front through hole (B-2-3) and the twelfth drive unit (12) has a right connecting rod front through hole (12-4-3) connected by bolts to form a rotating joint.

[0050] The front through hole (C-3-3) of the left connecting rod of the third vertex unit (C) and the front through hole (3-4-3) of the right connecting rod of the third drive unit (3) are connected by bolts to form a rotating joint. The front through hole (C-1-3) of the front connecting rod of the third vertex unit and the front through hole (7-4-3) of the right connecting rod of the seventh drive unit (7) are connected by bolts to form a rotating joint. The front through hole (C-4-3) of the right connecting rod of the third vertex unit and the front through hole (2-3-3) of the left connecting rod of the second drive unit (2) are connected by bolts to form a rotating joint. The front through hole (C-2-3) of the rear connecting rod of the third vertex unit and the front through hole (6-3-3) of the left connecting rod of the sixth drive unit (6) are connected by bolts to form a rotating joint.

[0051] The front through hole (D-3-3) of the left connecting rod of the fourth vertex unit (D) and the front through hole (4-4-3) of the right connecting rod of the fourth drive unit (4) are connected by bolts to form a rotating joint. The front through hole (D-1-3) of the front connecting rod of the fourth vertex unit and the front through hole (11-3-3) of the left connecting rod of the eleventh drive unit (11) are connected by bolts to form a rotating joint. The front through hole (D-4-3) of the right connecting rod of the fourth vertex unit and the front through hole (3-3-3) of the left connecting rod of the third drive unit (3) are connected by bolts to form a rotating joint. The front through hole (D-2-3) of the rear connecting rod of the fourth vertex unit and the front through hole of the right connecting rod of the tenth drive unit are connected by bolts to form a rotating joint.

[0052] The fifth vertex unit (E-3-3)'s fifth vertex unit's left connecting rod front through hole (E-3-3) and the tenth drive unit's tenth drive unit's left connecting rod front through hole (10-3-3) are connected by bolts to form a rotating joint. The fifth vertex unit's front connecting rod front through hole (E-1-3) and the eighth drive unit's eighth drive unit's eighth drive unit's left connecting rod front through hole (8-3-3) are connected by bolts to form a rotating joint. The fifth vertex unit's right connecting rod front through hole (E-4-3) and the ninth drive unit's ninth drive unit's ninth drive unit's right connecting rod front through hole (9-4-3) are connected by bolts to form a rotating joint. The fifth vertex unit's rear connecting rod front through hole (E-2-3) and the seventh drive unit's seventh drive unit's seventh drive unit's seventh connecting rod front through hole (7-4-3) are connected by bolts to form a rotating joint.

[0053] The front through hole (F-3-3) of the left connecting rod of the sixth vertex unit (F) and the front through hole (11-4-3) of the right connecting rod of the eleventh driving unit (11) are connected by bolts to form a rotating joint. The front through hole (F-1-3) of the front connecting rod of the sixth vertex unit and the front through hole (6-3-3) of the left connecting rod of the sixth driving unit (6) are connected by bolts to form a rotating joint. The front through hole (F-4-3) of the right connecting rod of the sixth vertex unit and the front through hole (12-3-3) of the left connecting rod of the twelfth driving unit (12) are connected by bolts to form a rotating joint. The front through hole (F-2-3) of the rear connecting rod of the sixth vertex unit and the front through hole (5-4-3) of the right connecting rod of the fifth driving unit (5) are connected by bolts to form a rotating joint.

[0054] The first vertex unit (A) includes a front link (A-1), a rear link (A-2), a left link (A-3), and a right link (A-4). In the initial state, the links connected to the first vertex unit (A) are perpendicular to each other and form a regular quadrilateral shape.

[0055] The first vertex unit front link (A-1) is as follows: Figure 4 As shown, the first vertex unit has a left through hole (A-1-1), a right through hole (A-1-2), and a front through hole (A-1-3) for the front connecting rod. The left through hole (A-1-1) and the right through hole (A-1-2) of the front connecting rod are parallel to each other, and the axis of the front through hole (A-1-3) is perpendicular to it. The rear connecting rod (A-2) of the first vertex unit has the same structural dimensions as the front connecting rod (A-1).

[0056] The first vertex unit left link (A-3) is as follows: Figure 5As shown, the first vertex unit has a left through hole (A-3-1), a right through hole (A-3-2), and a front through hole (A-3-3) for the left connecting rod. The left through hole (A-3-1) and the right through hole (A-3-2) of the left connecting rod are parallel to each other, and the axis of the front through hole is perpendicular to it. The right connecting rod (A-4) of the first vertex unit has the same structural dimensions as the left connecting rod (A-3).

[0057] The connection method of the first vertex unit (A) is as follows:

[0058] The left through hole (A-1-1) of the front connecting rod of the first vertex unit (A-1) and the right through hole (A-3-2) of the left connecting rod of the first vertex unit are fixedly connected by bolts, and the right through hole (A-1-2) of the front connecting rod of the first vertex unit and the left through hole (A-4-1) of the right connecting rod of the first vertex unit are fixedly connected by bolts.

[0059] The left through hole (A-2-1) of the rear connecting rod of the first vertex unit (A-2) and the right through hole (A-4-2) of the right connecting rod of the first vertex unit are fixedly connected by bolts. The right through hole (A-2-2) of the rear connecting rod of the first vertex unit and the left through hole (A-3-1) of the left connecting rod of the first vertex unit are fixedly connected by bolts.

[0060] The first drive unit (1) includes a front link (1-1), a rear link (1-2), a left link (1-3), a right link (1-4), an outer link (1-5), an inner link (1-6), and a servo motor (1-7). In the initial state, the links of the first drive unit (1) are perpendicular to each other and form a regular quadrilateral shape.

[0061] The first drive unit front linkage (1-1) is as follows: Figure 6 As shown, the first drive unit front connecting rod has a left through hole (1-1-1), a right through hole (1-1-2), and a middle through hole (1-1-3). The axes of the through holes are parallel. The first drive unit rear connecting rod (1-2) has the same structural dimensions as the first drive unit (1-1) front connecting rod.

[0062] The left connecting rod (1-3) of the first drive unit is as follows: Figure 7As shown, the first drive unit has a left through hole (1-3-1), a right through hole (1-3-2), a front through hole (1-3-3), and a rear through hole (1-3-4) for the left connecting rod. The left through hole (1-3-1) and the right through hole (1-3-2) of the left connecting rod are parallel to each other, and the front through hole (1-3-3) and the rear through hole (1-3-4) of the left connecting rod are perpendicular to each other. The right connecting rod (1-4) of the first drive unit has the same structural dimensions as the left connecting rod (1-3).

[0063] The first drive unit external connecting rod (1-5) is as follows: Figure 8 As shown, the first drive unit outer connecting rod has a left through hole (1-5-1), a right through hole (1-5-2), and a middle through hole (1-5-3), and the axes of the through holes are parallel.

[0064] The connecting rods (1-6) inside the first drive unit are as follows: Figure 9 As shown, the first drive unit has a left through hole (1-6-1), a right through hole (1-6-2), and a middle through hole (1-6-3) for the inner connecting rod, and the axes of the through holes are parallel.

[0065] The connection method of the first drive unit (1) rod is as follows:

[0066] The left through hole (1-1-1) of the front connecting rod of the first drive unit and the right through hole (1-3-2) of the left connecting rod of the first drive unit are fixedly connected by bolts, and the right through hole (1-1-2) of the front connecting rod of the first drive unit and the left through hole (1-4-1) of the right connecting rod of the first drive unit are fixedly connected by bolts.

[0067] The left through hole (1-2-1) of the rear connecting rod (1-2) of the first drive unit and the right through hole (1-4-2) of the right connecting rod of the first drive unit are fixedly connected by bolts. The right through hole (1-2-2) of the rear connecting rod of the first drive unit and the left through hole (1-3-1) of the left connecting rod of the first drive unit are fixedly connected by bolts.

[0068] The left through hole (1-5-1) of the outer connecting rod (1-5) of the first drive unit is connected to the middle through hole (1-1-3) of the front connecting rod of the first drive unit by bolts to form a rotating joint. The right through hole (1-5-2) of the outer connecting rod of the first drive unit is connected to the middle through hole (1-2-3) of the rear connecting rod of the first drive unit by bolts to form a rotating joint. The middle through hole (1-5-3) of the outer connecting rod of the first drive unit is fixedly connected to the servo (1-7) by bolts.

[0069] The left through hole (1-6-1) of the first drive unit inner connecting rod (1-6) and the rear through hole (1-3-4) of the first drive unit inner connecting rod are connected by bolts to form a rotating joint. The right through hole (1-6-2) of the first drive unit inner connecting rod and the rear through hole (1-4-4) of the first drive unit inner connecting rod are connected by bolts to form a rotating joint. The middle through hole (1-6-3) of the first drive unit inner connecting rod and the servo (1-7) are fixedly connected by bolts.

Claims

1. A rhombohedral octahedral mobile robot, characterized in that: Including the first vertex unit (A), the second vertex unit (B), the third vertex unit (C), the fourth vertex unit (D), the fifth vertex unit (E), the sixth vertex unit (F), the first driving unit (1), the second driving unit (2), the third driving unit (3), the fourth driving unit (4), the fifth driving unit (5), the sixth driving unit (6), the seventh driving unit (7), the eighth driving unit (8), the ninth driving unit (9), the tenth driving unit (10), the eleventh driving unit (11), and the twelfth driving unit (12); The first vertex unit (A) includes a front link (A-1), a rear link (A-2), a left link (A-3), and a right link (A-4). In the initial state, the links connected in the first vertex unit (A) are perpendicular to each other and form a regular quadrilateral shape. The second vertex unit (B), the third vertex unit (C), the fourth vertex unit (D), the fifth vertex unit (E), and the sixth vertex unit (F) have the same structural dimensions as the first vertex unit (A). The first vertex unit front connecting rod (A-1) is provided with a left through hole (A-1-1), a right through hole (A-1-2), and a front through hole (A-1-3). The left through hole (A-1-1) and the right through hole (A-1-2) of the first vertex unit front connecting rod are parallel to each other, and the axis of the front through hole (A-1-3) of the first vertex unit front connecting rod is perpendicular to it. The first vertex unit rear connecting rod (A-2) has the same structural dimensions as the first vertex unit front connecting rod (A-1). The first vertex unit left connecting rod (A-3) is provided with a left through hole (A-3-1), a right through hole (A-3-2), and a front through hole (A-3-3). The left through hole (A-3-1) and the right through hole (A-3-2) of the first vertex unit left connecting rod are parallel to each other, and the axis of the front through hole is perpendicular to it. The first vertex unit right connecting rod (A-4) has the same structural dimensions as the first vertex unit left connecting rod (A-3). The connection method of the first vertex unit (A) is as follows: The left through hole (A-1-1) of the front connecting rod of the first vertex unit (A-1) and the right through hole (A-3-2) of the left connecting rod of the first vertex unit are fixedly connected by bolts, and the right through hole (A-1-2) of the front connecting rod of the first vertex unit and the left through hole (A-4-1) of the right connecting rod of the first vertex unit are fixedly connected by bolts. The left through hole (A-2-1) of the rear connecting rod of the first vertex unit (A-2) and the right through hole (A-4-2) of the right connecting rod of the first vertex unit are fixedly connected by bolts; the right through hole (A-2-2) of the rear connecting rod of the first vertex unit and the left through hole (A-3-1) of the left connecting rod of the first vertex unit are fixedly connected by bolts. The first drive unit (1) includes a front link (1-1), a rear link (1-2), a left link (1-3), a right link (1-4), an outer link (1-5), an inner link (1-6), and a servo motor (1-7). In the initial state, the links connected to the first drive unit (1) are perpendicular to each other and form a regular quadrilateral shape. The second drive unit (2), the third drive unit (3), the fourth drive unit (4), the fifth drive unit (5), the sixth drive unit (6), the seventh drive unit (7), the eighth drive unit (8), the ninth drive unit (9), the tenth drive unit (10), the eleventh drive unit (11), and the twelfth drive unit (12) have the same structural dimensions as the first drive unit (1). The first drive unit front connecting rod (1-1) is provided with a left through hole (1-1-1), a right through hole (1-1-2), and a middle through hole (1-1-3). The axes of the through holes are parallel. The first drive unit rear connecting rod (1-2) has the same structural dimensions as the first drive unit front connecting rod (1-1). The first drive unit left connecting rod (1-3) is provided with a left through hole (1-3-1), a right through hole (1-3-2), a front through hole (1-3-3), and a rear through hole (1-3-4). The left through hole (1-3-1) and the right through hole (1-3-2) of the first drive unit left connecting rod are parallel to each other. The front through hole (1-3-3) and the rear through hole (1-3-4) of the first drive unit left connecting rod are perpendicular to each other. The first drive unit right connecting rod (1-4) has the same structural dimensions as the first drive unit left connecting rod (1-3). The outer connecting rod (1-5) of the center of the first driving unit is provided with a left through hole (1-5-1), a right through hole (1-5-2), and a middle through hole (1-5-3), and the axes of the through holes are parallel. The inner connecting rod (1-6) of the first driving unit is provided with a left through hole (1-6-1), a right through hole (1-6-2), and a middle through hole (1-6-3), and the axes of the through holes are parallel. The connection method of the first drive unit (1) rod is as follows: The left through hole (1-1-1) of the front connecting rod of the first drive unit and the right through hole (1-3-2) of the left connecting rod of the first drive unit are fixedly connected by bolts, and the right through hole (1-1-2) of the front connecting rod of the first drive unit and the left through hole (1-4-1) of the right connecting rod of the first drive unit are fixedly connected by bolts. The left through hole (1-2-1) of the rear connecting rod (1-2) of the first drive unit and the right through hole (1-4-2) of the right connecting rod of the first drive unit are fixedly connected by bolts. The right through hole (1-2-2) of the rear connecting rod of the first drive unit and the left through hole (1-3-1) of the left connecting rod of the first drive unit are fixedly connected by bolts. The left through hole (1-5-1) of the outer connecting rod (1-5) of the first drive unit and the middle through hole (1-1-3) of the front connecting rod of the first drive unit are connected by bolts to form a rotating joint. The right through hole (1-5-2) of the outer connecting rod of the first drive unit and the middle through hole (1-2-3) of the rear connecting rod of the first drive unit are connected by bolts to form a rotating joint. The middle through hole (1-5-3) of the outer connecting rod of the first drive unit and the first servo (1-7) are fixedly connected by bolts. The left through hole (1-6-1) of the inner connecting rod (1-6) of the first drive unit and the rear through hole (1-3-4) of the left connecting rod of the first drive unit are connected by bolts to form a rotating joint. The right through hole (1-6-2) of the inner connecting rod of the first drive unit and the rear through hole (1-4-4) of the right connecting rod of the first drive unit are connected by bolts to form a rotating joint. The middle through hole (1-6-3) of the inner connecting rod of the first drive unit and the first servo (1-7) are fixedly connected by bolts. The connection relationship between the vertex unit and the driver unit is as follows: The first vertex unit (A) has a left connecting rod front through hole (A-3-3) and the first drive unit (1) has a right connecting rod front through hole (1-4-3) connected by bolts to form a rotating joint. The first vertex unit has a front connecting rod front through hole (A-1-3) and the eighth drive unit (8) has a right connecting rod front through hole (8-4-3) connected by bolts to form a rotating joint. The first vertex unit has a right connecting rod front through hole (A-4-3) and the fourth drive unit (4) has a left connecting rod front through hole (4-3-3) connected by bolts to form a rotating joint. The first vertex unit has a rear connecting rod front through hole (A-2-3) and the fifth drive unit (5) has a left connecting rod front through hole (5-3-3) connected by bolts to form a rotating joint. The second vertex unit (B) has a left connecting rod front through hole (B-3-3) and the second drive unit (2) has a right connecting rod front through hole (2-4-3) connected by bolts to form a rotating joint. The second vertex unit has a front connecting rod front through hole (B-1-3) and the ninth drive unit (9) has a left connecting rod front through hole (9-3-3) connected by bolts to form a rotating joint. The second vertex unit has a right connecting rod front through hole (B-4-3) and the first drive unit (1) has a left connecting rod front through hole (1-3-3) connected by bolts to form a rotating joint. The second vertex unit has a rear connecting rod front through hole (B-2-3) and the twelfth drive unit (12) has a right connecting rod front through hole (12-4-3) connected by bolts to form a rotating joint. The front through hole (C-3-3) of the left connecting rod of the third vertex unit (C) and the front through hole (3-4-3) of the right connecting rod of the third drive unit (3) are connected by bolts to form a rotating joint. The front through hole (C-1-3) of the front connecting rod of the third vertex unit and the front through hole (7-4-3) of the right connecting rod of the seventh drive unit (7) are connected by bolts to form a rotating joint. The front through hole (C-4-3) of the right connecting rod of the third vertex unit and the front through hole (2-3-3) of the left connecting rod of the second drive unit (2) are connected by bolts to form a rotating joint. The front through hole (C-2-3) of the rear connecting rod of the third vertex unit and the front through hole (6-3-3) of the left connecting rod of the sixth drive unit (6) are connected by bolts to form a rotating joint. The front through hole (D-3-3) of the left connecting rod of the fourth vertex unit (D) and the front through hole (4-4-3) of the right connecting rod of the fourth drive unit (4) are connected by bolts to form a rotating joint. The front through hole (D-1-3) of the front connecting rod of the fourth vertex unit and the front through hole (11-3-3) of the left connecting rod of the eleventh drive unit (11) are connected by bolts to form a rotating joint. The front through hole (D-4-3) of the right connecting rod of the fourth vertex unit and the front through hole (3-3-3) of the left connecting rod of the third drive unit (3) are connected by bolts to form a rotating joint. The front through hole (D-2-3) of the rear connecting rod of the fourth vertex unit and the front through hole of the right connecting rod of the tenth drive unit are connected by bolts to form a rotating joint. The fifth vertex unit (E)’s left connecting rod front through hole (E-3-3) and the tenth drive unit (10)’s left connecting rod front through hole (10-3-3) are connected by bolts to form a rotating joint. The fifth vertex unit’s front connecting rod front through hole (E-1-3) and the eighth drive unit (8)’s left connecting rod front through hole (8-3-3) are connected by bolts to form a rotating joint. The fifth vertex unit’s right connecting rod front through hole (E-4-3) and the ninth drive unit (9)’s right connecting rod front through hole (9-4-3) are connected by bolts to form a rotating joint. The fifth vertex unit’s rear connecting rod front through hole (E-2-3) and the seventh drive unit (7)’s right connecting rod front through hole (7-4-3) are connected by bolts to form a rotating joint. The front through hole (F-3-3) of the left connecting rod of the sixth vertex unit (F) and the front through hole (11-4-3) of the right connecting rod of the eleventh driving unit (11) are connected by bolts to form a rotating joint. The front through hole (F-1-3) of the front connecting rod of the sixth vertex unit and the front through hole (6-3-3) of the left connecting rod of the sixth driving unit (6) are connected by bolts to form a rotating joint. The front through hole (F-4-3) of the right connecting rod of the sixth vertex unit and the front through hole (12-3-3) of the left connecting rod of the twelfth driving unit (12) are connected by bolts to form a rotating joint. The front through hole (F-2-3) of the rear connecting rod of the sixth vertex unit and the front through hole (5-4-3) of the right connecting rod of the fifth driving unit (5) are connected by bolts to form a rotating joint.

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