The invention provides a symmetrical five-connecting-rod closed chain type double-wheel-leg robot and a motion control method thereof, and belongs to the field of robots. The single side of the robot is of a five-connecting-rod closed chain coupling driving wheel structure which is distributed in a left-right and front-back symmetrical machine body structure. The robot adopts the six-degree-of-freedom structural design, the left side and the right side are each provided with three degrees of freedom, pitching of the robot body, stretching and retracting of the leg connecting rods and rolling of the driving wheels are controlled correspondingly, dynamic balance control over the robot is completed through cooperation of the hip joint motors and the wheel motors, and rapid wheel type movement on the flat ground is achieved; when the robot encounters an obstacle, the sky jumping movement is achieved through leg folding action energy storage and stretching action energy release of the thigh connecting rods and the shank connecting rods, the robot can achieve wheel type balance movement and jumping obstacle crossing movement, and the robot has the movement advantages of being high in movement efficiency, good in stability, high in obstacle crossing performance and the like in a complex scene.

    本发明提供了一种对称五连杆闭链式双轮腿机器人及其运动控制方法,属于机器人领域。该机器人单侧为五连杆闭链耦合驱动轮结构,采用左右、前后对称式机体结构分布。本发明所述的机器人采用六自由度结构设计,左右两侧各三自由度,分别控制机体的俯仰、腿部连杆的伸缩和驱动轮子的滚动,通过髋关节电机和轮子电机的协同配合完成机器人的动态平衡控制,实现平坦地面的快速轮式移动,遇到障碍物时通过大腿连杆和小腿连杆的收腿动作蓄能和伸展动作释能实现腾空离地跳跃运动,该机器人能够实现轮式平衡运动和跳跃越障运动,在复杂场景下具有运动效率高、平稳性好和高越障性能等多方面运动优势。


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    Title :

    Symmetrical five-connecting-rod closed chain type double-wheel-leg robot and motion control method thereof


    Additional title:

    对称五连杆闭链式双轮腿机器人及其运动控制方法


    Contributors:
    HUAN SHEN (author) / LIU XUEFEI (author) / JI AIHONG (author)

    Publication date :

    2024-09-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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