The invention provides a robot based on a tensegrity structure, a composite robot and a working method, and relates to the technical field of robots, the robot comprises a robot body and two tensegrity wheels; the two sides in the robot body are each provided with a driving motor. The tensioning integral wheel is of a tensioning integral structure, and a driving pressing rod with the variable length is arranged in the center of the tensioning integral structure. The two tensioning integral wheels are arranged on the two sides of the robot body correspondingly and connected with the driving motor through the driving pressing rod. The driving motor is used for driving the whole tensioning wheel to rotate by taking the driving pressing rod as a shaft to realize horizontal movement of the robot; the driving pressing rod is used for changing the width and/or the ground clearance of the robot by changing the shape of the whole tensioning wheel. The tensioning integral wheel is used as a wheel of the robot, deformation of the robot can be achieved, the movement requirement under the complex environment is met, only one driving pressing rod is arranged in the tensioning integral wheel, and control is easy.
本发明提供了一种基于张拉整体结构的机器人、复合机器人及工作方法,涉及机器人技术领域,包括:机器人本体和两个张拉整体轮;机器人本体内部两侧分别设置有一个驱动电机;张拉整体轮为张拉整体结构,张拉整体结构的中心位置设置有长度可变的驱动压杆;两个张拉整体轮分别设置在机器人本体的两侧,并通过驱动压杆与驱动电机相连;驱动电机用于带动张拉整体轮以驱动压杆为轴转动,实现机器人的水平运动;驱动压杆用于通过改变张拉整体轮的形状,改变所述机器人的宽度和/或离地间隙。本发明使用张拉整体轮作为机器人的车轮,能够实现机器人的变形,满足复杂环境下的运动要求,张拉整体轮中只有一个驱动压杆,易于控制。
Robot based on tensegrity structure, composite robot and working method
一种基于张拉整体结构的机器人、复合机器人及工作方法
2023-12-22
Patent
Elektronische Ressource
Chinesisch
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