The invention discloses a PPUUR suspension structure for a mobile robot. The PPUUR suspension structure is composed of a machine body, two swing rods, two first connecting rods, two second connectingrods, four universal joints, a first moving joint and two second moving joints. The upper part of the machine body is connected with the first movable joint; the first moving joint is connected with the first connecting rod through the second moving joints; the first connecting rod and the second connecting rod are connected through a universal joint, and the second connecting rod and the swing rod are connected through the universal joints. The PPUUR suspension structure is simple in structure, the swing angle range of the swing rod is large, pitching fluctuation of 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PPUUR悬架结构,由机身、两个摆杆、两个第一连杆、两个第二连杆、四个万向节、一个第一移动关节和两个第二移动关节组成。所述机身上部和所述第一移动关节相连;所述第一移动关节和所述第一连杆通过所述第二移动关节相连;所述第一连杆和所述第二连杆、所述第二连杆和所述摆杆之间分别通过万向节连接。本发明的PPUUR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。
PPUUR suspension structure for mobile robot
一种用于移动机器人的PPUUR悬架结构
2020-08-18
Patent
Electronic Resource
Chinese
Mobile robot walking structure, suspension structure and mobile robot
European Patent Office | 2024
|