The invention relates to a snakelike robot, in particular to a double-wheel modular snakelike robot based on a virtual spherical hinge, and aims to solve the problems that an existing snakelike robot is insufficient in structural body flexibility, low in movement speed and low in movement efficiency. Double-wheel modules of the virtual spherical hinge are sequentially connected, and a movable platform and a static platform are oppositely arranged; one end of the movable platform is connected with one outer Mecanum wheel and one inner Mecanum wheel, one end of the static platform is connected with one outer Mecanum wheel and one inner Mecanum wheel, the other end of the movable platform is provided with a set of first driving devices, and the other end of the static platform is provided with a set of second driving devices. The set of virtual spherical hinge connecting assemblies are arranged between the set of first driving devices and the set of second driving devices, and the two ends of the set of virtual spherical hinge connecting assemblies are connected with the set of first driving devices and the set of second driving devices correspondingly. The invention belongs to the field of bionic robots.
一种基于虚拟球铰的双轮模块化蛇形机器人,本发明涉及一种蛇形机器人,本发明为克服现有蛇形机器人所存在的结构本体灵活性不足、运动速度低、运动效率不高的问题,虚拟球铰的双轮模块顺次连接,动平台和静平台相对设置,动平台的一端分别与一个外麦克纳姆轮和一个内麦克纳姆轮连接,静平台的一端分别与一个外麦克纳姆轮和一个内麦克纳姆轮连接,动平台的另一端安装有一组第一驱动装置,静平台的另一端安装有一组第二驱动装置,一组虚拟球铰连接组件设置在一组第一驱动装置和一组第二驱动装置之间,且一组虚拟球铰连接组件的两端分别端与一组第一驱动装置和一组第二驱动装置连接。本发明属于仿生机器人领域。
Double-wheel modular snakelike robot based on virtual spherical hinge
一种基于虚拟球铰的双轮模块化蛇形机器人
2023-03-14
Patent
Electronic Resource
Chinese
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