The invention discloses a six-drive reconfigurable robot which comprises a robot body, extensible reconfigurable wheels and a transmission system. The two sides of the machine body are each provided with three extensible and reconfigurable wheels, six sets of transmission systems are arranged in the machine body in a matched mode, the transmission systems are connected with the extensible and reconfigurable wheels through axles, and the transmission systems can control the extensible and reconfigurable wheels to rotate and deform; the six-drive reconfigurable robot designed by the invention is small in boundary dimension and highly adaptable to the terrain, has a wheel type motion mode and a three-arc-leg type motion mode, can be switched to the wheel type motion mode for rapid motion in the structured terrain, and can be switched to the three-arc-leg type motion mode for passing through the complex terrain in the unstructured terrain; the robot can quickly and flexibly reach a target point for operation through switching of a wheel-three-arc leg movement mode.
本发明公开了一种六驱可重构机器人,包括:机身、可扩展重构车轮、传动系统;所述机身两侧各设置有三个可扩展重构车轮,所述机身内部设置配合有六套传动系统,所述传动系统与所述可扩展重构车轮轴连接,所述传动系统能够控制所述可扩展重构车轮转动与变形;本发明所设计的六驱可重构机器人,外形尺寸小,对地形高适应,具有轮式和三弧腿式两种运动模式,在结构化地形中机器人可切换为轮式运动模式快速运动,在非结构化地形中机器人可切换为三弧腿式运动模式通过复杂地形,机器人通过轮‑三弧腿运动模式的切换可快速、机动达到目标点进行作业。
Six-drive reconfigurable robot
一种六驱可重构机器人
2023-08-22
Patent
Electronic Resource
Chinese
HETEROGENEOUS MODULAR RECONFIGURABLE MOBILE ROBOT CHAIN DRIVE
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