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Six-leg walking robot in parallel connection driven by rotation

A walking robot, rotation drive technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of cumbersome layout, complex structure of walking robot, easy interference, etc., and achieve the effect of reducing moment of inertia, walking stability, and reducing self-weight

Active Publication Date: 2015-09-23
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a rotationally driven parallel hexapod walking robot. Structural Walking robots are complex in structure, cumbersome in layout, and easy to interfere

Method used

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  • Six-leg walking robot in parallel connection driven by rotation

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Embodiment

[0026] This embodiment provides a rotationally driven parallel hexapod walking robot, which includes a frame and six parallel driving legs. The parallel driving legs are installed on the frame and include a parallel driving mechanism and a leg mechanism. The parallel driving mechanism is a three branch chain structure, including a driving motor, three rockers, three connecting rods and a moving platform. The three drive motors are fixed on the frame, respectively directly drive the three rockers, and control the three-dimensional movement of the braking platform through the three connecting rods, and the moving platform drives the leg mechanism to move in space; the leg mechanism is a four-bar structure, including the drive rod, Link rods, leg links and lower leg members. The middle of the connecting frame rod is hinged on the frame, and the two ends are respectively hinged to the driving rod and the lower leg rod. The drive rod and lower leg member are connected at the othe...

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Abstract

The invention discloses a six-leg walking robot in parallel connection driven by rotation. The six-leg walking robot comprises a frame and six driving legs in parallel connection, wherein the six driving legs in parallel connection are uniformly distributed on the frame and symmetrically mounted, each of the driving legs in parallel connection has three freedom degrees relative to the frame, and the frame has six freedom degrees in three-dimensional translation and three-dimensional rotation under the coordination of the six driving legs in parallel connection; each of the driving legs in parallel connection comprises a driving mechanism in parallel connection and a leg mechanism, which are connected through an equivalent spherical hinge alpha, wherein the driving mechanism in parallel connection adopts a three branched hinge structure, and the leg mechanism adopts a four rod structure. The six-leg walking robot disclosed by the invention is simple and flexible in structure, light in mechanisms, stable to walk, good in adaptability and suitable for high-speed heavy-load transportation operation under non-structural topographic conditions.

Description

technical field [0001] The invention relates to the technical field of walking robots, in particular to a rotationally driven parallel hexapod walking robot. Background technique [0002] Legged robots are widely used for detection and transportation tasks in complex ground environments, such as: detection work after nuclear power plant disasters, rescue tasks after earthquakes or landslides, etc. Unlike wheeled and tracked robots, legged robots can flexibly select independent footholds to complete the motion process. The legged robot isolates the fuselage from the complex environment on the ground through mechanical legs, so that the fuselage can complete the set tasks in an environment where other robots are difficult to move. The more the robot has, the better the stability will be, but the structure and control will be more complicated. The hexapod robot has good stability and operation ability, and can be used as an operation platform to complete various tasks. In te...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 高峰陈先宝金振林奚达潘阳
Owner SHANGHAI JIAO TONG UNIV
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