Folding parallel mechanism, crawling method and surmounting obstacle method of bionic starfish movement

Abstract

The invention discloses a folding parallel mechanism, a crawling method and a surmounting obstacle method of bionic starfish movement, which belongs to an area of robotics. The folding parallel mechanism, the crawling method and the surmounting obstacle method of the bionic starfish movement comprise a mobile platform, wherein a first kinematics branch chain, a second kinematics branch chain, a third kinematics branch chain, a fourth kinematics branch chain and a fifth kinematics branch chain are successively connected with periphery of the mobile platform. The kinematics branch chains are active driving branch chains. The kinematics branch chains respectively comprise at three or more transmission bars connected successively. The mobile platform is connected with the kinematics branch chains through kinematic pairs, and transmission bars are connected by the kinematic pairs. Driving devices are respectively arranged on the kinematic pairs. Terminal parts of the adjacent kinematics branch chains are connected by two or more connecting rods. The connecting rods are connected by the kinematic pairs. The connecting rods and the terminal parts of the adjacent kinematics branch chains are connected by the kinematic pairs. The folding parallel mechanism, the crawling method and the surmounting obstacle method of the bionic starfish movement have the advantages of being simple in structure, convenient in control, capable of achieving a plurality of motion states of crawling, tumbling and folding, capable of adapting a multiple and complex environment.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a foldable parallel mechanism for bionic starfish movement and methods for crawling and overcoming obstacles. Background technique [0002] Modern intelligent machinery must not only be able to meet the simple movement of flat roads, but also be able to adapt to terrain ravines, uneven mountain roads and seabed environments. Among them, the ocean accounts for about 71% of the earth's surface area, and it is rich in mineral resources and marine biological resources. The starfish in marine organisms are flat and mostly radially symmetrical. The bone plates of the endoskeleton are connected by connective tissue, which is flexible and bendable. With radially symmetrical limbs and numerous small micro-tube feet, it can adapt to the complex seabed environment, and can land safely in the rough and uneven terrain. Therefore, it is of great practical significance to study the mechanical s...

AI Technical Summary

Problems solved by technology

Ion polymer metal composite structure brakes are light in weight and can meet large bending displacements, but can only generate small forces; SMA actuators can generate large displacements with a simple mechanism, but they are affected by air flow, temperature and other environments during the cooling recovery stage. The conditions are relatively sensitive, and if the bionic starfish has many pins to increase the flexibility of the starfish mechanism, it will increase the difficulty of control and cause the mechanism to be too complicated

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