The invention discloses a novel spherical robot and a driving method thereof. The novel spherical robot comprises a spherical shell, a bouncing system and a mechanical arm module. And a plurality of mounting grooves and a plurality of mechanical arm mounting holes are formed in the spherical shell. A bouncing system is mounted in each mounting groove; and a mechanical arm module is mounted in eachmechanical arm mounting hole. All the mechanical arm modules can extend out of the spherical shell, and therefore the gravity center position of the whole spherical robot is changed. Bouncing boardsin the bouncing systems can pop up to push the spherical robot to bounce. The gravity center of the spherical robot is changed in a mechanical arm stretching mode, a novel driving method for rolling of the spherical robot is provided, and the spherical robot is more suitable for motion exploration in a complex environment. And meanwhile, bouncing can be conducted, the terrain adaptability is further enhanced, the bouncing direction can be changed at will by adjusting the lengths of four supporting mechanical arms, and the catapulting precision is high.
本发明公开了一种新型球形机器人及其驱动方法。本发明一种新型球形机器人,包括球壳、弹跳系统和机械臂模块。球壳上开设有多个安装槽和多个机械臂安装孔。每个安装槽内均安装有弹跳系统;每个机械臂安装孔内均安装有机械臂模块。各机械臂模块均能够伸出球壳,从而改变整个球形机器人的重心位置。个弹跳系统内的弹跳板均能够弹出,推动球形机器人弹跳。本发明利用机械臂伸缩的方式改变球形机器人的重心,提供了球形机器人滚动的新型驱动方法,更加适合在复杂环境下的运动勘探。同时,本发明能够进行弹跳,进一步增强了地形适应能力,且弹跳方向可通过调节四根支撑的机械臂的长度任意改变,弹射精度高。
Novel spherical robot and driving method thereof
一种新型球形机器人及其驱动方法
2021-02-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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