The invention discloses a total R-pair three-order tetrahedron mobile robot which comprises first to fourth vertexes and first to sixth branched chains. The first vertex is connected with the first branch chain, the second branch chain and the third branch chain; the second vertex is connected with the first branch chain, the fourth branch chain and the fifth branch chain; the third vertex is connected with the second branch chain, the fifth branch chain and the sixth branch chain; the fourth vertex is connected with the third branch chain, the fourth branch chain and the sixth branch chain; and completing the connection of the robot to present a regular tetrahedron combined shape. According to the total R-pair three-order tetrahedron mobile robot, the revolute pair joints and the tetrahedron order are added, so that the total R-pair three-order tetrahedron mobile robot can increase more degrees of freedom, more deformation postures can be obtained, then continuous non-collision moving gaits are achieved, the capacity of the robot for adapting to complex terrains is improved, and the robot can be applied to the complex terrains. The method can be used in the fields of reconnaissance and detection.
本发明公开了一种全R副三阶四面体移动机器人,包括第一至第四顶点、第一至第六支链。第一顶点与第一支链、第二支链、第三支链连接;第二顶点与第一支链、第四支链、第五支链连接;第三顶点与第二支链、第五支链、第六支链连接;第四顶点与第三支链、第四支链、第六支链连接;完成上述连接机器人呈现正四面体组合外形。该全R副三阶四面体移动机器人增加了转动副关节和四面体阶数,可使所述全R副三阶四面体移动机器人增加更多自由度,可以获得更多的变形姿态,进而实现连续非碰撞的移动步态,提高了机器人适应复杂地形的能力,本发明可用于侦察、探测等领域。
Total R-pair three-order tetrahedron mobile robot
一种全R副三阶四面体移动机器人
2023-12-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Online Contents | 2003
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