A multi-foot crawling robot using a contra-parallelogram mechanism on the waist comprises a robot body serving as a closed chain mechanism and four crawling feet serving as open chain mechanisms, and the closed chain mechanism is the contra-parallelogram mechanism composed of a front robot body, a first rod, a second rod, a third rod and a rear robot body. The motion plane of the contra-parallelogram mechanism serves as a horizontal plane, projections of the first rod and the third rod on the horizontal plane coincide and jointly form a connecting rod of the contra-parallelogram mechanism, the second rod serves as the other connecting rod of the contra-parallelogram mechanism, and the front machine body and the rear machine body serve as two cranks of the contra-parallelogram mechanism. Y-shaped frames used for installing the crawling feet are installed on the front side face of the front fuselage and the rear side face of the rear fuselage, each Y-shaped frame is provided with two installation arms symmetrical along the axis of the fuselage, the axes of the installation arms are parallel to the horizontal plane, and the ends of the installation arms are hinged to the crawling feet.

    一种在腰部使用反平行四边形机构的多足爬行机器人,包括作为闭链机构的机身,和四条作为开链机构的爬行足,所述闭链机构为由前机身、第一杆、第二杆、第三杆和后机身构成的反平行四边形机构,以反平行四边形机构的运动平面为水平面,第一杆和第三杆在水平面上的投影重合并共同构成反平行四边形机构的一条连杆,第二杆作为反平行四边形机构的另一条连杆,前机身和后机身作为反平行四边形机构的两条曲柄,前机身前侧面和后机身的后侧面均安装用于安装爬行足的Y型架,所述Y型架具两条沿机身轴线对称的安装臂,安装臂的轴线平行于水平面,安装臂的端部与爬行足铰接。


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    Titel :

    Multi-legged crawling robot using contra-parallelogram mechanism at waist


    Weitere Titelangaben:

    一种在腰部使用反平行四边形机构的多足爬行机器人


    Beteiligte:
    WANG RUIQIN (Autor:in) / WU HAO (Autor:in) / DAI SHIJIE (Autor:in) / TIAN XINTAO (Autor:in)

    Erscheinungsdatum :

    2023-07-28


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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