The invention relates to the field of bionic robots, in particular to an in-situ steering quadruped robot based on connecting rod coplanarity and a steering control system, and specifically, the in-situ steering quadruped robot based on connecting rod coplanarity comprises a robot body, a first steering engine, four transmission arms and moving legs. Four groups of transmission arms are separated by diagonal lines to form two groups of transmission structures, and the two groups of transmission structures are driven by a first steering engine to perform reverse reciprocating motion, so that the two groups of transmission arms act at the same time, and torques generated by the two groups of transmission arms are the same in size and opposite in direction, thereby generating tangential torques for steering a fuselage; according to the structure, the pivot steering function can be achieved without an additional driving structure, the complexity of the structure is reduced, later maintenance is facilitated, and the overall manufacturing cost is lower.
本发明涉及仿生机器人领域,尤其涉及基于连杆共面的可原地转向四足机器人及转向控制系统,具体的,基于连杆共面的可原地转向四足机器人中包括:机身,第一舵机、四个传动臂以及移动腿。本发明通过将四组传动臂以对角线为分隔,形成两组传动结构,以第一舵机驱动两组传动结构进行反向的往复运动,这样两组传动臂同时作用,两组传动臂产生的力矩大小相同,方向相反,从而产生使机身转向的切向力矩,进而达到机身以及其自身的重心轴进行转向目的,这种结构无需额外的驱动结构既可以形成原地转向的功能,降低了结构的复杂程度,不仅方便了后期的维修,而且整体的造价更低。
Pivot steering quadruped robot based on connecting rod coplanarity and control system
基于连杆共面的可原地转向四足机器人及控制系统
2022-11-22
Patent
Electronic Resource
Chinese
Study of Quadruped Pivot Steering Gait
British Library Conference Proceedings | 1993
|European Patent Office | 2021
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