The invention relates to the field of robots, in particular to a multi-track rolling robot based on a novel double-Bennett mechanism, two Bennett four-bar mechanisms are connected end to end in a closed loop mode to form the novel double-Bennett mechanism, and the novel double-Bennett mechanism is composed of a first rod piece (1), a first driving rod (2), a first connecting rod (3), a driving motor (4), a first supporting rod (5), a second supporting rod (6), a second connecting rod (7), a third connecting rod (8) and a second rod piece (9). The straight rolling mode and the steering rolling mode of the robot are achieved by controlling the rotating speed and the rotating angle of the driving motor. In the straight rolling mode, the rotating speed of the motor in the initial configuration is controlled, and the single-side rolling gait and the multi-side rolling gait of the robot can be achieved; in the steering rolling mode, the rotation angle and the rotation speed of the motor in the rolling process of the robot are changed, and steering movement of different tracks can be achieved. The robot has the characteristics of single degree of freedom, high stability and multi-gait motion, and is suitable for unknown terrain exploration. Meanwhile, the device is simple in structure, convenient to process and manufacture and applicable to the education field.
本发明涉及机器人领域,具体为一种基于新型双Bennett机构的多轨迹滚动机器人,将两个Bennett四杆机构首尾闭环连接形成新型双Bennett机构,由第一杆件(1)、第一驱动杆(2)、第一连杆(3)、驱动电机(4)、第一支撑杆(5)、第二支撑杆(6)、第二连杆(7)、第三连杆(8)、第二杆件(9)组成。通过控制驱动电机的转速及转角实现机器人的直行滚动模式及转向滚动模式。在直行滚动模式下,控制初始位形时的电机转速,可实现机器人的单边滚动步态及多边滚动步态;在转向滚动模式下,改变机器人滚动过程中电机转角和转速,可实现不同轨迹的转向运动。机器人拥有单自由度、高稳定、多步态运动的特性,适用于未知地形勘测。同时,结构简易,便于加工制造,可应用于教育领域。
Multi-track rolling robot based on novel double-Bennett mechanism
一种基于新型双Bennett机构的多轨迹滚动机器人
2024-07-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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