The invention belongs to the technical field of robots, and particularly relates to a composite wheel step type robot platform with high explosive dynamic characteristics, which comprises a steering joint, an external leg joint, an internal leg joint, an electric wheel, an upper connecting rod, a middle connecting rod, a lower connecting rod, a transverse energy storage unit, a vertical energy storage unit and a displacement sensor. The robot platform configuration can meet the passing requirements of structured and unstructured terrain environments, not only can realize high-speed wheel type movement, but also can realize obstacle crossing by adopting leg type movement when facing obstacles. The single-leg three-degree-of-freedom modular design and the parallel leg-foot configuration enable the platform to have higher bearing capacity and explosion performance, the foot end vertical and transverse energy storage elastic structures can store gravitational potential energy of a machine body and release the gravitational potential energy during bouncing, obstacle crossing and other motions, the technical requirement for a driving motor is lowered, and meanwhile a certain passive flexible effect can be achieved.
本发明属于机器人技术领域,具体涉及一种具有高爆发动态特性的复合轮步式机器人平台,包含转向关节,外置腿部关节、内置腿部关节、电动轮、上连杆、中连杆、下连杆、横向储能单元、垂向储能单元、位移传感器。该机器人平台构型可满足结构化与非结构化地形环境的通过要求,既可以实现高速轮式运动,同时在面对障碍时可以采用腿式运动实现越障。单腿三自由度模块化设计以及并联腿足构型使得平台具有更高承载能力和爆发性能,足端垂向与横向储能弹性结构可将机体的重力势能储存,在弹跳、越障等运动时进行释放,降低了对驱动电机的技术需求,同时可实现一定被动柔顺效果。
Composite wheel step type robot platform with high explosion dynamic characteristic
一种具有高爆发动态特性的复合轮步式机器人平台
2023-06-06
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / F03G Feder-, Gewichts-, Trägheits- oder ähnliche Kraftmaschinen , SPRING, WEIGHT, INERTIA, OR LIKE MOTORS |
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