The invention discloses a bionic mobile robot with crawling and rolling functions. The bionic mobile robot comprises a body with an accommodating cavity, a leg kicking assembly connected with the body, four sets of first two-degree-of-freedom leg assemblies and two sets of three-degree-of-freedom leg assemblies, wherein the four sets of first two-degree-of-freedom leg assemblies are connected withthe body and located at the left front end, the left rear end, the right front end and the right rear end of the body respectively; the two three-degree-of-freedom leg assemblies are connected with the body and located at the left middle end and the right middle end of the body respectively; the three-degree-of-freedom leg assembly comprises a rotating piece connected with the body and a second two-degree-of-freedom leg assembly connected with an output shaft of the rotating piece; and an output shaft of the rotating piece is vertical; the tail ends of the first two-degree-of-freedom leg assembly and the second two-degree-of-freedom leg assembly are arc-shaped feet, and the arc-shaped feet can be matched to form rolling wheels for rolling forward. The robot has a crawling state and a rolling state, and the leg kicking assembly is used for providing power for the rolling state. The robot has 15 degrees of freedom, and is low in degree of freedom and simple to control.

    本发明公开了一种具备爬行及滚动功能的仿生移动机器人,包括具有容置腔的躯体、与躯体连接的蹬腿组件、四组第一二自由度腿组件和两组三自由度腿组件。四组第一二自由度腿组件分别与躯体连接,且分别位于躯体的左前端、左后端、右前端和右后端。两个三自由度腿组件分别和躯体连接,且分别位于躯体的左中端和右中端。三自由度腿组件包括与躯体连接的转动件和与转动件输出轴连接的第二二自由度腿组件;转动件的输出轴竖直。第一二自由度腿组件和第二二自由度腿组件的末端均为弧形足,弧形足能够配合形成用于本发明滚动前行滚动轮。本发明具有爬行状态和滚动状态,蹬腿组件用于给滚动状态提供动力。本发明共包含15个自由度,自由度少,控制简单。


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    Title :

    Bionic mobile robot with crawling and rolling functions


    Additional title:

    一种具备爬行及滚动功能的仿生移动机器人


    Contributors:
    HAN LIANGLIANG (author) / HUANG ZEDONG (author) / GU CHENGPENG (author) / ZHANG WENQI (author) / YANG JIAN (author) / ZHANG YUANXUN (author) / CHEN MENG (author) / SHI FEIZHOU (author) / ZHANG YUHUA (author)

    Publication date :

    2020-07-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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