The invention discloses a high-maneuverability multiple-foot type appendage robot. The high-maneuverability multiple-foot type appendage robot is composed of six parts including a, b, c and d groups of leg mechanisms (A, B, C and D), a front trunk (E), a rear trunk (F), g and h groups of appendage mechanisms (G and H), a posture adjusting mechanism (I) and a driving system (J). The four sets of leg mechanisms are uniformly driven by a single motor through a synchronous belt, the trunk is driven by an electric push rod to drive the leg mechanisms to be integrally deformed, and the robot is switched among an involute kicking and rolling mode, a walking mode and an adhesion type obstacle crossing mode. Under the assistance of the appendage mechanism, the high-maneuverability multiple-legged appendage robot with three motion modes has the characteristics of moving speed and terrain adaptability, and can be used for detection and reconnaissance tasks on unknown planets in the future.
一种高机动倍足式附肢机器人,该机器人包括:一种高机动倍足式附肢机器人由a、b、c、d组腿机构(A、B、C、D)、前躯干(E)、后躯干(F)、g、h组附肢机构(G、H)、姿态调整机构(I)以及驱动系统(J)六部分组成。四组腿机构由单电机通过同步带统一驱动,躯干在电动推杆的驱动下带动腿机构可进行整体变形,实现机器人在渐开线蹬滚模式、行走模式和粘附式越障模式之间转换。在附肢机构的辅助下,拥有三种运动模式的高机动倍足式附肢机器人兼顾移动速度和地形适应性的特点,可用于未来对未知星球的探测和侦察任务。
High-mobility multiple-foot appendage robot
一种高机动倍足式附肢机器人
2023-01-31
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Attitude control of space robot with flexible appendage
AIAA | 1993
|Springer Verlag | 2018
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