The invention discloses a crawling mechanical leg parallel driving mechanism which comprises a fixed platform, a movable platform, a third branch, a fourth branch, a first branch and a second branch, the first branch and the second branch are the same in structure, the first branch, the second branch, the third branch and the fourth branch are connected with the movable platform and the fixed platform, and sliding pairs are arranged in the first branch, the second branch and the fourth branch. The three moving pairs can drive the fixed platform to move spatially, the third branch configuration comprises SU, SR and UR, and the parallel mechanism is a two-rotation and one-movement mechanism and is flexible in movement. The parallel mechanism does not have a singular position in a working space and moves coherently and smoothly, and the mechanical legs take a sliding pair as a driving pair and have better supporting rigidity; a crawling robot based on the novel parallel mechanism mechanical leg can move on a plane in any direction.
本发明公开一种爬行机械腿并联驱动机构,其包括定平台、动平台、第三分支、第四分支、两条结构相同的第一分支与第二分支,第一分支、第二分支、第三分支和第四分支连接动平台和定平台,第一分支、第二分支和第四分支中均设有移动副,三个移动副能驱动定平台进行空间运动,第三分支构型包括SU、SR和UR,并联机构为两转一移机构,运动灵活。并联机构在工作空间中不存在奇异位置,运动连贯流畅,机械腿以移动副为驱动副,有较好的支撑刚性;基于该新型并联机构机械腿的爬行机器人能够在平面上沿任意方向运动。
Crawling mechanical leg parallel driving mechanism
爬行机械腿并联驱动机构
2021-04-23
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |