The invention discloses an RRSRR suspension structure for a mobile robot. The RRSRR suspension structure is composed of a machine body, two swing rods, two first connecting rods, two second connectingrods, a first rotating joint, two second rotating joints, two third rotating joints and two ball joints. The upper part of the machine body is connected with the first rotating joint; the first rotating joint is connected with the first connecting rod through the second rotating joint; the first connecting rod and the second connecting rod are connected through the ball joint; and the second connecting rod is connected with the swing rod through a third rotating joint. The RRSRR suspension structure is simple in structure, the swing angle range of the swing rod is large, pitching fluctuationof the vehicle body is small, stability is high, and overturning caused by unstable contact between wheels and the ground or suspension of part of the wheels can be effectively prevented.
本发明公开了一种用于移动机器人的RRSRR悬架结构,由机身、两个摆杆、两个第一连杆、两个第二连杆、一个第一转动关节、两个第二转动关节、两个第三转动关节和两个球关节组成。所述机身上部和所述第一转动关节相连;所述第一转动关节和所述第一连杆通过所述第二转动关节相连;所述第一连杆和所述第二连杆通过所述球关节相连;所述第二连杆和所述摆杆通过第三转动关节连接。本发明的RRSRR悬架结构结构简单,摆杆的摆角范围较大,机身的俯仰波动较小、稳定性较高,可以有效防止因车轮与地面接触不稳或部分车轮悬空而导致的倾覆。
RRSRR suspension structure for mobile robot
一种用于移动机器人的RRSRR悬架结构
2020-08-18
Patent
Electronic Resource
Chinese
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