Hexapod universal walking multifunctional moonshot robot

Abstract

The invention provides a hevapod universal walking multifunctional moonshot robot which comprises two parts of a mechanical structure and a control system; the mechanical structure is composed of a round objective platform and six multi free-degree arms which are evenly distributed according to a regularhexagon, thus, on the basis, various of required functional modules are loaded on the round objective platform so as to expand the function; the control system adopts an AVR singlechip structure to combine the functional modules and the mechanical structure together so as to form a moonshot robot system. The robot has two walking modes of leg-type crawling and wheel type crawling, and has the universal walking function; and the walking efficiency is improved obviously and the scope of application is wider. Meanwhile, the functions of self-adaption to topography, counterguard, path optimization process and grabbing by a mechanical arm, automatical fault distinguishing and repairing and the like are increased newly on the basis of the existing functions; and the invention can be applied to the field of moonshot and the like, and the civil fileds such as ground location, rescuing, transportation and the like.

Description

technical field [0001] The invention relates to a multifunctional lunar exploration robot with hexapods and universal walking, which has two walking modes of leg crawling and wheel rolling, and belongs to the technical field of lunar exploration robots. Background technique [0002] In recent years, in order to meet the needs of the lunar exploration and other fields, in-depth research on lunar exploration robots has been carried out at home and abroad, and certain results have been achieved. Especially the United States and Russia have accumulated mature experience in this regard. my country's research on lunar exploration robots started relatively late, but with the development and promotion of the lunar exploration project, research in this area has developed rapidly. There are currently two types of lunar exploration robots: wheeled and legged. In terms of universal walking, the lunar exploration robot can walk in any direction without turning. The existing universal ...

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Problems solved by technology

[0003] The current lunar exploration robot mainly adopts a wheeled vehicle body. This structure has better adaptability to flat terrain, but it is difficult to adapt to complex and rugged terrain. It will cause certain bumps and stability when walking on complex roads. Poor sex

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