The invention discloses a cross-domain multi-mode robot integrating a tensegrity and an unmanned aerial vehicle. The robot comprises a rolling module and a flying module. The rolling module is of a six-rod tensioning integral structure and comprises six rigid pressing rods and twenty-four elastic cables. The two ends of each rigid pressing rod are each connected with four elastic cables, and the four elastic cables are connected with the end points of the four rigid pressing rods closest to the end point of the rigid pressing rod respectively. The rolling module changes the gravity center position of the robot by controlling the length change of an elastic cable, so that the robot rolls under the action of gravitational torque; the flight module is of a separable rotor unmanned aerial vehicle structure installed between the two rigid pressing rods and is used for achieving flight. According to the robot, the unmanned aerial vehicle and the six-rod stretch-draw integral structure are combined, flexible switching between a ground rolling mode and an air flying mode of the robot is achieved, and meanwhile the impact resistance of the robot is guaranteed.
本发明公开了一种融合张拉整体和无人机的跨域多模态机器人,该机器人包括滚动模块和飞行模块;滚动模块为六杆张拉整体结构,包括6根刚性压杆和24根弹性索;每根刚性压杆的两端均连接有4根弹性索,4根弹性索分别与距离该刚性压杆的端点距离最近的四个刚性压杆的端点相连接;滚动模块通过控制弹性索的长度变化改变机器人的重心位置,使机器人在重力矩作用下实现翻滚;飞行模块为安装于两根刚性压杆之间的可分离式旋翼无人机结构,用于实现飞行。上述机器人将无人机与六杆张拉整体结构结合,实现机器人地面滚动模式和空中飞行模式的灵活切换,同时保证了机器人的抗冲击能力。
Cross-domain multi-mode robot integrating tensegrity and unmanned aerial vehicle
一种融合张拉整体和无人机的跨域多模态机器人
2024-07-19
Patent
Electronic Resource
Chinese