The invention discloses a centipede-like robot with multi-terrain adaptability and a low-degree-of-freedom leg structure. Comprising a leg mechanism, a steering mechanism, a main transmission chain and a sensing system. A plurality of sets of leg mechanisms and steering mechanisms are provided, and the leg mechanisms and the steering mechanisms are alternately connected to form a centipede-like robot main body structure; the main transmission chain provides crawling power for the leg mechanism. In the crawling process, a part of toes touch the ground for supporting, and the other part of toes leave the ground and move forwards, and periodically and alternately move. The climbing process is kept balanced, and the ground adhesion capacity is ensured; the centipede-like robot provides power for a main transmission chain through a front main transmission chain motor and a rear main transmission chain motor, and the main transmission chain provides power for all leg mechanisms. Each steering mechanism of the centipede-like robot has two degrees of freedom of left and right and pitching, so that the adaptability of the centipede-like robot to complex terrains is improved, and complex movement can be completed; the centipede-like robot is provided with the most intelligent sensing system which can detect and investigate the external environment and can complete autonomous motion planning.
本发明公开了一种具有多地形适应性的具有少自由度腿部结构的仿蜈蚣机器人。包括腿部机构、转向机构、主传动链、传感系统。腿部机构和转向机构有多套,腿部机构和转向机构交替连接形成仿蜈蚣机器人主体结构;主传动链为腿部机构提供爬行动力。爬行过程中,一部分脚趾着地做支撑,另外一部分脚趾离地向前,周期性交替运动。攀爬过程保持平衡,确保地面附着能力;仿蜈蚣机器人通过前后两个主传动链电机为主传动链提动力,主动链为所有腿部机构提高动力;仿蜈蚣机器人每个转向机构都有左右和俯仰两个自由度,增加仿蜈蚣机器人复杂地形适应能力,可完成复杂运动;仿蜈蚣机器人具有最智能传感系统可检测、侦查外部环境,并可完成自主运动规划。
Centipede-like robot with multi-terrain adaptability and low-degree-of-freedom leg structure
一种具有多地形适应性的具有少自由度腿部结构的仿蜈蚣机器人
2022-06-14
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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