The invention discloses an omnidirectional trunk reconfigurable multi-legged platform. The platform comprises a left front mechanism, a right front mechanism, a left rear mechanism, a right rear leg mechanism (A, B, C and D) and a trunk (E), the left front and right front leg mechanisms (A and B) and the left rear and right rear leg mechanisms (C and D) are arranged anticlockwise according to the sequence of the left front leg mechanism (A), the left rear leg mechanism (C), the right rear leg mechanism (D) and the right front leg mechanism (B), and each group of leg mechanisms is driven by a motor; the shape and geometric parameters of rod pieces in the trunk (E) are set, the trunk (E) is made to be a two-degree-of-freedom space mechanism with three deformation modes, under the three deformation modes, the omni-directional trunk reconfigurable multi-legged platform obtains three different gaits of pitching, waisted and omni-directional, and the omni-directional trunk reconfigurable multi-legged platform has high terrain adaptability and high maneuverability.
一种全向型躯干可重构多足平台,该装置包括:相同的左前、右前、左后、右后腿机构(A、B、C、D)和躯干(E);所述的左前、右前腿机构(A、B)和左后、右后腿机构(C、D)按照左前腿机构(A),左后腿机构(C),右后腿机构(D),右前腿机构(B)的顺序逆时针布置,每组腿机构各由一个电机驱动;设置躯干(E)中杆件的形状与几何参数,使躯干(E)为具有三种变形模式的二自由度空间机构,在三种变形模式下,全向型躯干可重构多足平台分别获得俯仰、收腰和全向三种不同的步态,具有高地形适应性与高机动性。
Omnidirectional trunk reconfigurable multi-legged platform
一种全向型躯干可重构多足平台
2024-07-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
OMNIDIRECTIONAL PLATFORM AND OMNIDIRECTIONAL TRANSPORTER
European Patent Office | 2021
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