A deformable wheel-leg type robot based on a four-bar mechanism consists of a four-unit module 1, a motor 1, a four-unit module 2, a motor 2 and a machine body. The four-unit module 1, the motor 1, the four-unit module 2 and the motor 2 are fixedly connected with the machine body, the motor 1 drives the four-unit module 1 to move through a coupler, and the motor 2 drives the four-unit module 2 tomove through a coupler. The robot has two moving modes of a wheel type and a leg type, the motor 1 and the motor 2 drive the four-unit module 1 and the four-unit module 2 correspondingly to move, an auxiliary motor helps wheel-leg units to pass over special positions, and the adaptability of the robot is improved through deformation. The robot not only has the capability of obstacle crossing and climbing, but also can quickly and stably move on the structured pavement.
一种基于四杆机构的可变形轮腿式机器人由四单元模块1、电机1、四单元模块2、电机2和机身组成,四单元模块1、电机1、四单元模块2、电机2与机身固定连接,电机1通过联轴器驱动四单元模块1运动,电机2通过联轴器驱动四单元模块2运动。机器人具有轮式和轮式两种移动模式,电机1和电机2分别驱动四单元模块1和四单元模块2的移动,辅助电机帮助轮腿单元越过奇异位置,通过变形提高机器人的适应能力。机器人既具有越障及攀爬能力,也能够在结构化路面上快速稳定的移动。
Deformable wheel-leg type robot
一种可变形轮腿式机器人
2020-11-24
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Deformable wheel, deformable wheel control system and vehicle
European Patent Office | 2021
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