The invention provides a high-maneuverability robot chassis and a control mode thereof, and relates to the technical field of robots. The high-maneuverability robot chassis comprises a main trunk and a trunk lower chassis body, inclination angle servo motors are fixedly connected to the middles of the two sides of the main trunk, rotor arms are fixedly connected to the output ends of the inclination angle servo motors, and propeller rotors are fixedly connected to the tail ends of the rotor arms. Independent suspensions are fixedly connected to the four corners of the lower portion of the trunk lower chassis, connecting rods are fixedly connected to the lower portions of the independent suspensions, posture adjusting motors are fixedly connected to the lower portions of the connecting rods, and foot joints are fixedly connected to the output ends of the posture adjusting motors. By combining wheel type jumping, foot type jumping and kinematics characteristics of the unmanned aerial vehicle, the high-energy-efficiency moving characteristic of a wheel type robot is reserved, and meanwhile the maneuverability and flexibility of the robot adapting to complex road surfaces and terrains are improved.
本发明提供一种高机动性机器人底盘及其控制方式,涉及机器人技术领域。该高机动性机器人底盘,包括主躯干和躯干下部底盘,所述主躯干的两侧中部均固定连接有倾斜角度伺服电机,所述倾斜角度伺服电机的输出端固定连接有旋翼臂,所述旋翼臂的末端固定连接有螺旋桨旋翼,所述躯干下部底盘的下部四角均固定连接有独立悬挂,所述独立悬挂的下部固定连接有连杆,所述连杆的下部固定连接有姿态调节电机,所述姿态调节电机的输出端固定连接有足关节。通过结合了轮式、足式跳跃以及无人机的运动学特点,使其保留轮式机器人高能效移动特点的同时,又增加了其适应复杂路面地形的机动灵活性。
High-maneuverability robot chassis and control mode thereof
一种高机动性机器人底盘及其控制方式
2023-07-25
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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