UPS-based parallel structure wheel-foot mobile robot

Abstract

The invention provides a UPS-based parallel structure wheel-foot mobile robot. The UPS-based parallel structure wheel-foot mobile robot comprises wheels, a support carrier and six mechanical leg assemblies, wherein one ends of the six mechanical leg assemblies are uniformly arranged in the circumferential direction of the lower side of the support carrier, the wheels are mounted at the other endsof the mechanical leg assemblies, the robot comprises a wheel type motion mode and a foot type motion mode and can be switched between the wheel type motion mode and the foot type motion mode according to different scenes, in the wheel type motion mode, the circumferential faces of the wheels touch the ground and move in a wheel rolling mode, and in the foot type movement mode, the side faces of the wheels touch the ground and move in a foot type walking mode. According to the UPS-based parallel structure wheel-foot mobile robot, a 3UPS parallel type six-degree-of-freedom mechanical arm structure is adopted, so that the flexibility is high, the bearing capacity is high, more sensors can be carried to execute more complex exploration tasks, the motion input corresponding to the pose of thefoot end relative to a rack can be determined and unique through calculation, the control precision is high, and the stability is high.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a UPS-based parallel structure wheel-foot mobile robot. Background technique [0002] Most of the mobile robots that have been applied at this stage are wheeled, legged, and crawler-type structures. Among them, wheeled robots have faster moving speeds and excellent maneuverability, but they can only be used on flat ground with little undulating terrain. Walking on the ground has greater terrain limitations; footed robots have better terrain adaptability and can walk on undulating ground, but their moving speed is slower, and walking on flat ground is comparable to wheeled robots. The specific energy consumption is large; compared with wheeled robots, crawler robots have better adaptability to the ground, and can pass through some terrain with small ravines, but their volume and weight are large and their movements are not flexible enough. The compound motion robot represented by ...

AI Technical Summary

Problems solved by technology

This technology combines the advantages of wheeled and footed movements, and has certain terrain adaptability and good bearing capacity. However, its leg structure has only four degrees of freedom in space, and it still has the ability to perform footed movements. certain movement limitations

In addition, the number of mechanical legs is four, and the stability of the robot is insufficient during complex terrain movement.

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