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Six-rod thirty-cable flexible tension integrated robot

A tensegrity and robotic technology, applied in the field of robotics, can solve the problems of low fault tolerance and achieve low cost, good stability, and small volume

Pending Publication Date: 2018-05-29
UNIV OF SCI & TECH BEIJING
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional walking robots mostly use wheels and crawlers to realize walking, which has great restrictions on uneven road sections and low fault tolerance rate

Method used

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  • Six-rod thirty-cable flexible tension integrated robot
  • Six-rod thirty-cable flexible tension integrated robot
  • Six-rod thirty-cable flexible tension integrated robot

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Embodiment Construction

[0018] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0019] The invention provides a flexible tensioning integral robot with six rods and thirty cables.

[0020] Such as figure 1 As shown, the robot includes three pairs of parallel electric push rods (respectively 1, 2, 3, 4, 5, 6), 24 elastic-rigid composite cables (respectively s1-s24) and 6 elastic cables (respectively x, x1, x2, y, y1, y2, z, z1, z2), the ends of each pair of parallel electric push rods are connected by elastic cables to form three planes that are perpendicular to each other and whose centers coincide. The vertices are connected to four points on different surrounding surfaces through elastic-rigid composite cables to form a skeleton structure; the central control chip and battery are suspended in the cavity in the middle of the struc...

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Abstract

The invention provides a six-rod thirty-cable flexible tension integrated robot and belongs to the technical field of robots. The robot comprises three pairs of electric push rods parallel in pairs, 24 elastic-rigid compound cables and 6 elastic cables. The end portions of each pair of the parallel electric push rods are connected through the elastic cables, so that three perpendicular planes withthe centers coincided are formed, 12 peak points are connected with surrounding four points in different planes through the elastic-rigid compound cables, and a framework structure is formed. A center control chip and a battery are suspended in a middle cavity of the structure through added ropes, and a space is reserved and used for function expansion. A single-chip microcomputer is adopted forreceiving infrared signals, the 6 electric push rods are controlled to stretch and retract, so that the gravity center moves and strides across one side of a grounding triangle, and natural turnover and directional movement are achieved. Under the same condition and capacity, the robot is smaller in size and more suitable for substituting a worker to move to a special terrain for a detection activity.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a flexible tensioning integral robot with six rods and thirty cables. Background technique [0002] The tensegrity structure is a kind of light-weight, grid-like spatial structure system, which is formed by interconnecting pre-stretched rope units and pre-compressed rod units. The tensegrity structure can easily change its own structure, and can still maintain a balanced state under complex force conditions, and can achieve directional movement by changing the length of the unit to achieve the transfer of the center of gravity. Traditional walking robots mostly use wheels and tracks to achieve walking, which has relatively large restrictions on uneven roads and low fault tolerance. For this reason, the invention discloses a robot with a flexible tensioned integral structure of six rods and thirty cables. Contents of the invention [0003] The technical problem to be solved by ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02B62D57/032
CPCB62D57/02B62D57/032
Inventor 魏凯吴林桐田雨张立元韩梓腾李鑫杰
Owner UNIV OF SCI & TECH BEIJING
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