The invention relates to a mobile robot technology, in particular to a transformation wheel mechanism based on a triple symmetric Bricard mechanism, which consists of a first rod piece (1), a second rod piece (2), a third rod piece (3), a fourth rod piece (4), a fifth rod piece (5), a sixth rod piece (6), a seventh rod piece (7), an eighth rod piece (8), a ninth rod piece (9), a tenth rod piece (10), a first transformation steering engine (11) and a second transformation steering engine (12). Through self-deformation of the structure, a wheel type motion mode and a leg type motion mode are achieved, and different working environments and working requirements can be met.
本发明涉及移动机器人技术,具体涉及一种基于三重对称Bricard机构的变形轮机构,由第一杆件(1)、第二杆件(2)、第三杆件(3)、第四杆件(4)、第五杆件(5)、第六杆件(6)、第七杆件(7)、第八杆件(8)、第九杆件(9)、第十杆件(10)、第一变形舵机(11)、第二变形舵机(12)组成,通过结构自身变形具备轮式、腿式两种运动模式,能够适应不同的工作环境和工作需求。
Deformation wheel mechanism based on triple symmetric Bricard mechanism
一种基于三重对称Bricard机构的变形轮机构
2024-05-17
Patent
Electronic Resource
Chinese
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