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Four-rod tensegrity robot

A tensegrity and robotic technology, applied in the field of robotics, can solve problems such as the large space of the six-bar structure, and achieve the effects of saving resources, consuming less power, and protecting the environment

Active Publication Date: 2016-08-17
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The walking environment of this tensegrity robot requires a relatively flat ground, which is relatively limited, and the complex six-bar structure requires a relatively large space to work, and it cannot work in some special environmental locations.

Method used

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  • Four-rod tensegrity robot

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Embodiment Construction

[0008] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0009] combine figure 1 , the present invention includes No. 1 pole 3-1, No. 2 pole 3-2, No. 3 pole 3-3, No. 4 pole 3-4, eight horizontal cables 1, four inclined cables 4, four diagonal cables 2 and No. 1 Stepper drive motor 5-1, No. two stepper drive motor 5-2, No. three stepper drive motor 5-3, No. four stepper drive motor 5-4, four rods are numbered sequentially in clockwise order respectively and in Arranged in sequence in the space, the top four endpoints of the rods are numbered as n1, n2, n3, n4 in sequence, and the four endpoints form a rectangle, the lower end of the first rod is coded as n5, and the lower end of the second rod is coded as n6, The lower end of No. 3 pole is coded as n7, and the lower end of No. 4 pole is coded as n8. The lower ends of the four poles also form a rectangle, but they are deflected at a certain ...

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Abstract

The invention provides a four-rod tensegrity robot. The four-rod tensegrity robot comprises a tensegrity structure and a motor control system and further comprises four rods, eight horizontal cables, four oblique cables, four diagonal cables and four stepping drive motors. The four rods are sequentially numbered according to the clockwise sequence, and the upper ends and the lower ends of the four rods are connected through the four horizontal cables; and the upper end of the first rod is connected with the lower end of the fourth rod through the first oblique cable, the upper end of the second rod is connected with the lower end of the first rod through the second oblique cable, the upper end of the third rod is connected with the lower end of the second rod through the third oblique cable, and the upper end of the fourth rod is connected with the lower end of the third rod through the fourth oblique cable. The motors are fixed to the rods through bearing seats. The four-rod tensegrity robot is simple in structure and easy to operate.

Description

technical field [0001] The invention relates to a robot, in particular to a four-bar tensegrity robot, which is a robot that realizes walking on complex terrain through structural deformation based on a tensor whole structure. Background technique [0002] In some experimental and exploration fields, it is very necessary for robots to replace humans to complete some exploration practices. At present, most robots walk on wheels or crawlers to perform a series of activities. This method requires a specific space and a relatively flat road environment to realize the walking work of the robot. The tensegrity structure can easily change the shape of its own structure, and can still maintain its own balance when it is subjected to external forces, and adapt to changes in space through changes in its own structure. Therefore, the tensegrity robot can use the advantages of its own structure to carry out walking operations on some complex terrains, which is convenient for people to...

Claims

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Application Information

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IPC IPC(8): B25J9/10B62D57/02
CPCB25J9/1045B62D57/02
Inventor 罗阿妮于跃耿金嵩刘贺平辛浩
Owner HARBIN ENG UNIV
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