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Two-freedom-degree wheel-leg composite spherical mechanism and underwater robot

A spherical mechanism and degrees of freedom technology, applied in the field of robotics, can solve the problems of difficult sealing and packaging of joint drive motors, large self-weight-to-load ratio, complex leg mechanism, etc., and achieve a compact wheel-leg composite structure, fast response speed, and no joints. and driven effects

Inactive Publication Date: 2016-05-11
山东大学(威海)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But it is a pity that the existing wheel-leg compound movement only realizes the simple combination of the functions of the wheels and the legs and feet, but the two are completely independent structurally and have not been integrated into one, so they are different under different terrain conditions. To realize the transition between different moving modes, it is generally necessary to add a special auxiliary mechanism, which makes the leg mechanism more complicated and less flexible.
[0003] What's more serious is that most of the wheel-leg composite leg mechanisms use a series mechanism, which not only makes it difficult to seal the joint drive motor, but also has shortcomings such as small turning radius, large self-weight-to-load ratio, and monotonous posture.

Method used

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  • Two-freedom-degree wheel-leg composite spherical mechanism and underwater robot
  • Two-freedom-degree wheel-leg composite spherical mechanism and underwater robot
  • Two-freedom-degree wheel-leg composite spherical mechanism and underwater robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] like figure 1 As shown, in the present embodiment, the static platform 10 is elongated, and the dynamic platform 14 is square;

[0023] The first drive branch is the RUHR movement branch, the second drive branch is the RUPU movement branch, the first drive branch and the second drive branch are active drive branches, the RUHR movement branch and the RUPU movement branch are symmetrical arrangement;

[0024] Between one end of the static platform 10 and one end of the moving platform 14, a first rotating pair 12, a second universal joint 110, a first screw pair 113 and a third rotating pair 13 are arranged in sequence, thereby forming a RUHR motion branch chain, wherein the first A rotary pair 12 is driven by the first motor 11 arranged on the static platform 10;

[0025] The second rotating pair 17, the third universal joint 111, the first moving pair 16 and the fourth universal joint 112 are sequentially arranged between the other end of the static platform 10 and th...

Embodiment 2

[0028] like figure 2 As shown, in the present embodiment, the static platform 10' is a 1 / 4 circle, and the moving platform 14' is a square shape;

[0029] The first drive branch is RUPU motion branch, the second drive branch is RUPR movement branch, the first drive branch is active drive branch, the second drive branch is passive drive branch; RUPU movement branch and RUPR The vertical arrangement of the movement branch chain;

[0030] Between the arc-shaped end of the static platform 10' and one side of the moving platform 14', there are sequentially arranged a first rotating pair 12', a second universal joint 110', a first moving pair 16' and a fourth universal joint 112 ', thereby forming a RUPU kinematic branch chain, wherein the first revolving pair 12' is driven by the first motor 11' arranged on the static platform 10';

[0031] The second rotating pair 17', the third universal joint 111', the second moving pair 210' and the third rotating pair 13 are sequentially ar...

Embodiment 3

[0034] like image 3 As shown, in the present embodiment, static platform 10 " is strip shape, and moving platform 14 " is square shape;

[0035] Both the first drive branch and the second drive branch are RRPR motion branches, the first drive branch is the active drive branch, the second drive branch is the passive drive branch, the first drive branch and the second drive branch Chain symmetrical arrangement;

[0036] Between one end of the static platform 10" and one end of the moving platform 14", a first rotating pair 12", a fourth rotating pair 310", a first moving pair 16" and a fifth rotating pair 311" are sequentially arranged to form a first Drive the branch chain, wherein the first revolving pair 12" is driven by the first motor 11" arranged on the static platform 10";

[0037] The second rotating pair 17", the sixth rotating pair 312", the second moving pair 210" and the third rotating pair 13" are sequentially arranged between the other end of the static platform...

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Abstract

The invention discloses a two-freedom-degree wheel-leg composite spherical mechanism and an underwater robot, and belongs to the field of robots. The two-freedom-degree wheel-leg composite spherical mechanism comprises fixed platforms and movable platforms. A first drive branch chain, a second drive branch chain and an RUR intermediate movement transmission branch chain are arranged between each fixed platform and the corresponding movable platform. The novel spherical two-freedom-degree wheel-leg composite parallel mechanism is jointly formed by the first drive branch chains, the second drive branch chains and the RUR intermediate movement transmission branch chains. The wheel space movement posture is changed through the novel spherical parallel mechanism, and therefore the turning and obstacle crossing posture adjustment actions of the underwater robot during walking are achieved. The two-freedom-degree wheel-leg composite spherical mechanism and the underwater robot have the beneficial effects that the structure is simple, installing and controlling are convenient, and the turning and obstacle crossing performance is good.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a two-degree-of-freedom wheel-leg composite spherical mechanism and an underwater robot with the mechanism. Background technique [0002] The terrain is full of ravines, unevenness, and obstacles. Therefore, mobile robots with a single function (such as wheeled, legged, and crawler) cannot meet the marine environment with multiple characteristics. The wheel-leg compound movement method has both the high efficiency of wheel-type movement and the good obstacle-surpassing performance of leg-type movement. But it is a pity that the existing wheel-leg compound movement only realizes the simple combination of the functions of the wheels and the legs and feet, but the two are completely independent structurally and have not been integrated into one, so they are different under different terrain conditions. To realize the transition between different moving modes, it is generally necessa...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0063
Inventor 陈原桑董辉王康玲高军
Owner 山东大学(威海)
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