The invention relates to a fault-tolerant motion planning method for a hexapod robot with a joint locking fault. At present, a foot-type robot has better terrain adaptability, and however, when the robot works remotely, the fault of an actuator is a serious problem. The fault-tolerant motion planning method for the hexapod robot with the joint locking fault comprises a hexapod robot body; the hexapod robot body is composed of a machine body (1) and six legs (2); the machine body adopts a regular hexagon structure, and the six legs comprise a first leg (2-1), a second leg (2-2), a third leg (2-3), a fourth leg (2-4), a fifth leg (2-5) and a sixth leg (2-6); the heel joint (3) is a rotary joint and is connected with the machine body and the base joint; the hip joint (4) is a first-stage pitching joint, and is connected with the base joint and the thigh; and the knee joint (5) is a second-stage pitching joint, and is connected with the thigh and shin. The fault-tolerant motion planning method is applied to the hexapod robot with the joint locking faults.
本发明涉及一种关节锁定故障的六足机器人容错运动规划方法。目前,足式机器人具有更好的地形适应性,然而,当机器人在远程工作时,执行器的故障是一个严重的问题。一种关节锁定故障的六足机器人容错运动规划方法,其组成包括:六足机器人本体,所述的六足机器人本体由机体(1)和六条腿(2)组成,机体采用正六边形结构,六条腿包括一号腿(2‑1)、二号腿(2‑2)、三号腿(2‑3)、四号腿(2‑4)、五号腿(2‑5)和六号腿(2‑6),其中跟关节(3)为旋转关节,连接机体与基节,髋关节(4)为一级俯仰关节,连接基节与大腿,膝关节(5)为二级俯仰关节,连接大腿与小腿。本发明应用于关节锁定故障的六足机器人容错运动规划方法。
Fault-tolerant motion planning method for hexapod robot with joint locking fault
一种关节锁定故障的六足机器人容错运动规划方法
2020-12-01
Patent
Electronic Resource
Chinese
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