The embodiment of the invention discloses a modular robot with self-reconfiguration wheel legs. The robot comprises a four-connecting-rod leg mechanism, a butt joint mechanism and a cabin. The four-connecting-rod leg mechanisms are arranged on the left side and the right side of the cabin body respectively; the butt joint mechanism is composed of an active butt joint end and a passive butt joint end, and the active butt joint end and the passive butt joint end are arranged at the front end and the rear end of the cabin body respectively. The active butt joint end is a 3-RRR parallel mechanism, and the passive butt joint end is of a three-jaw chuck structure. A butt joint based on a 3-RRR platform is adopted by the robot, controllable multi-angle change of a butt joint device can be achieved, the butt joint range is enlarged, the butt joint robustness is improved, and the defects that an existing robot is tedious in butt joint and limited in range are overcome.

    本发明实施例公开了一种自重构轮腿模块化机器人,机器人包括:四连杆腿部机构、对接机构、舱体;所述四连杆腿部机构为一对,分设于所述舱体的左右两侧;所述对接机构由主动对接端和被动对接端构成,所述主动对接端、所述被动对接端分设于所述舱体的前后两端;所述主动对接端为3‑RRR并联机构,所述被动对接端为三爪卡盘结构。机器人采用基于3‑RRR平台的对接接头,可以实现对接装置可控多角度变化,增大对接范围,提高对接鲁棒性,解决了现有机器人对接繁琐,范围局限的缺点。


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    Title :

    Modularized robot with self-reconfiguration wheel legs


    Additional title:

    一种自重构轮腿模块化机器人


    Contributors:
    XING HUIMING (author) / LI JUN (author) / LI GUANQI (author) / WU HUAYE (author) / SONG SHIRUI (author)

    Publication date :

    2024-01-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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