The invention discloses a parallel bionic mobile platform with the adjustable gravity center. The parallel bionic mobile platform with the adjustable gravity center comprises front wheels, a front vehicle body, rear wheels, a rear vehicle body, a reconfigurable parallel bionic trunk, a gravity center adjusting device and a master control panel; the reconfigurable parallel bionic trunk comprises a left SPR branch chain, a right SPR branch chain, an SPS branch chain and a UPva branch chain, the left SPR branch chain, the right SPR branch chain and the SPS branch chain are connected between the front vehicle body and the rear vehicle body, and the UPva branch chain is located above the SPS branch chain; the UPva branch chain comprises a first universal pair, a first moving pair and a reconfigurable kinematic pair, the reconfigurable kinematic pair comprises a semicircular ring, a left arc-shaped piece, a right arc-shaped piece and a T-shaped hinge, one end of the left arc-shaped piece and one end of the right arc-shaped piece are hinged to the two sides of the axis of the top of the T-shaped hinge respectively, the left arc-shaped piece and the right arc-shaped piece are oppositely and symmetrically arranged, and the other ends of the left and right arc-shaped pieces are respectively hinged to two ends of the inner side of the semicircular ring; and the gravity center adjusting device is composed of a disc-shaped base, a rotating motor and a balancing weight. According to the scheme, the gait of a quadruped organism can be simulated, the device better adapts to the terrain, and the obstacle passing capacity is improved.

    本发明公开一种重心可调的并联仿生移动平台,包括前轮、前车身、后轮、后车身、可重构并联仿生躯干、重心调整装置和总控面板;可重构并联仿生躯干包括左SPR支链、右SPR支链、SPS支链和UPva支链,左SPR支链、右SPR支链、SPS支链连接在前车身和后车身之间,UPva支链位于SPS支链的上方;UPva支链包括第一万向副、第一移动副、可重构运动副,可重构运动副包括半圆环、左弧形片、右弧形片、T型铰链,T型铰链的顶部轴线两侧分别铰接左弧形片的一端和右弧形片的一端,左弧形片和右弧形片反向对称设置,左右弧形片的另一端分别铰接半圆环的内侧两端;重心调整装置由盘形底座、旋转电机和配重块组成。本案可以模仿四足生物的步态,更好地适应地形,提高障碍通过能力。


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    Titel :

    Parallel bionic mobile platform with adjustable gravity center


    Weitere Titelangaben:

    一种重心可调的并联仿生移动平台


    Beteiligte:
    MA CHUNSHENG (Autor:in) / MI WENBO (Autor:in) / LI RUIQIN (Autor:in) / WEN JIE (Autor:in) / LIU JIANGUO (Autor:in) / SHI YAFEI (Autor:in)

    Erscheinungsdatum :

    2021-10-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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