The multi-legged robot comprises an operation table, an operation structure and a plurality of mechanical legs, the operation structure is arranged in the operation table, the outer portion of the operation end of the operation structure is not shielded, and the mechanical legs are connected with the operation table; the operation structure comprises a driving element, an operation end and a force sensor which are arranged in the shell, the operation end is connected with the driving element through a connecting piece, and the force sensor is arranged between the driving element and the shell. The operation method comprises the following steps: calculating an expected value of toe contact force according to a torque value of to-be-executed large-torque operation; the multi-legged robot moves near the to-be-operated object, and the operation end of the multi-legged robot is connected with the to-be-operated object Part of the mechanical legs are kept standing, and the other mechanical legs are lifted to be in contact with external objects; enabling the contact force to reach an expected value through an admittance control algorithm; the operation structure provides continuous rotary motion to complete large-torque operation; and the lifted mechanical leg restores to stand and moves to the position near a new object to be operated.
本申请公开了一种大扭矩作业的多足机器人及作业方法,多足机器人,包括:操作台、操作结构及多个机械腿,操作结构设置于操作台内且操作结构的操作端的外部无遮挡,机械腿与操作台连接;操作结构包括:设置于壳体内的驱动元件、操作端和力传感器,操作端与驱动元件通过连接件连接,力传感器设置于驱动元件与壳体之间。作业方法,包括如下步骤:根据待执行大扭矩作业的扭矩值计算足尖接触力的期望值;多足机器人移动至待作业对象附近,其操作端与待作业对象连接;部分机械腿维持站立,其余机械腿则抬起与外部物体接触;通过导纳控制算法使接触力达到期望值;操作结构提供连续旋转运动,完成大扭矩作业;抬起的机械腿恢复站立,移动至新的待作业对象附近。
Large-torque operation multi-legged robot and operation method
一种大扭矩作业的多足机器人及作业方法
2023-03-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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European Patent Office | 2022
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