Under-actuated deforming wheel type obstacle crossing robot

Abstract

The invention provides an under-actuated deforming wheel type obstacle crossing robot. The overall shape of the under-actuated deforming wheel type obstacle crossing robot is T-shaped and comprises two wheel trains, which are driven by single power and have same structures, and a vehicle body, wherein the two wheel trains are in running fit with the vehicle body. In the rolling advancing process of a vehicle, the vehicle body can be reversed and claws in the wheel trains can be controlled to expand and retract through controlling a motor to rotate clockwise and anticlockwise. When rolling on flat road surfaces, wheels can be changed into circular wheels to roll for advancing. When meeting an obstacle, the vehicle body can be reversed for 180 degrees through the anticlockwise rotation of the motor; and at the moment, the wheel trains are deformed into claws so that the vehicle can cross the obstacle with a certain height. According to the under-actuated deforming wheel type obstacle crossing robot, an under-actuated principle is creatively melted into the wheel trains so that a function of controlling the wheels to deform and roll by using the single motor is realized. The invention provides the under-actuated deforming wheel type obstacle crossing robot with simple mechanical structure and low manufacturing cost.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an underactuated deformed wheeled obstacle-surmounting robot. Background technique [0002] At present, most of the common wheeled obstacle-surmounting robots are endowed with deformation ability on the basis of the wheels so that they have the ability to overcome obstacles. [0003] Chinese patent CN103407327A proposes a single-degree-of-freedom deformed wheel, which is mainly composed of a wheel plate, a rim, a hub, a crank, a crank connecting rod, and spokes. The rim is matched with the hub sleeve through the spokes, the hub inserting rod is inserted into the rim and the hub sleeve, the wheel plate is arranged on the rim, and connected by the crank and the crank connecting rod to form the mechanism part of the single-degree-of-freedom deformed wheel. Driven by the motor, the crank drives the mechanism to rotate and deform to realize the change of the effective wheel diameter o...

AI Technical Summary

Problems solved by technology

But its structure is relatively complicated, three independent wheels reduce its energy utilization efficiency and increase the quality of the wheel train itself

[0005] To sum up, the wheeled obstacle-crossing robot has fast speed and low motion noise, but most of the current common wheeled obstacle-crossing robots are based on wheels with complex deformation mechanisms and control systems, which have complex structures and cumbersome controls. higher cost

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