The invention relates to a side-free double-wheel robot and a side-free double-wheel robot control method, in particular to a side-free double-wheel robot suitable for multiple terrains and a side-free double-wheel robot control method. The invention aims to solve the problems that an existing rimless double-wheel robot is of an under-actuated structure, cannot be kept stable when dealing with external disturbance such as road bumping and is prone to toppling over; and the rimless double-wheel robot still has the problem of difficulty in static starting. The invention discloses a rimless double-wheel robot suitable for multiple terrains. The rimless double-wheel robot comprises a center platform, an angle control module, rimless wheels, a pendulum bob and a control circuit. The two sides of the center platform are each provided with an angle control module. The two angle control modules are respectively provided with a rimless wheel; a pendulum bob is installed at the bottom or the front portion of the center platform. The control process of the control method for the edgeless double-wheel robot suitable for the multiple terrains is that the control of the edgeless double-wheel robot is divided into the control of a starting stage, an advancing stage and a steering stage. The invention is applied to the technical field of vehicles without side wheels.
适用于多地形的无边双轮机器人及无边双轮机器人控制方法,本发明涉及无边双轮机器人及无边双轮机器人控制方法。本发明的目的是为了解决现有无边双轮机器人是一种欠驱动的结构,在应对路面颠簸等外界扰动时无法保持稳定,容易倾倒;以及无边双轮机器人还存在静止起步困难的问题。适用于多地形的无边双轮机器人,所述无边双轮机器人包括中心平台、角度控制模块、无边轮、摆锤、控制电路;所述中心平台两侧各安装一个角度控制模块;所述两个角度控制模块上各安装一个无边轮;所述中心平台底部或前部安装摆锤。适用于多地形的无边双轮机器人控制方法的控制过程为:无边双轮机器人控制分为起步阶段、前进阶段和转向阶段的控制。本发明用于无边轮车辆技术领域。
Edge-free double-wheel robot suitable for multiple terrains and edge-free double-wheel robot control method
适用于多地形的无边双轮机器人及无边双轮机器人控制方法
2023-07-21
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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