The invention discloses a bionic mobile robot with three motion modes, which comprises a fixed platform D1 and a movable platform D2, and a first motion branch chain unit and a second motion branch chain unit are arranged between the fixed platform D1 and the movable platform D2; the first motion branch chain unit comprises a first revolute pair R1, a first motion connecting rod, a third revolute pair R3, a second motion connecting rod and a fourth revolute pair R4 which are connected in sequence; the first motion connecting rod is connected with the fixed platform D1 through a first revolute pair R1, and the second motion connecting rod is connected with the movable platform D2 through a fourth revolute pair R4; the second motion branch chain unit comprises a second rotation pair R2, a bent block H1, a seventh rotation pair R7, a fifth motion connecting rod, a sixth rotation pair R6, a fourth motion connecting rod, a fifth rotation pair R5 and a third motion connecting rod which are connected in sequence. According to the robot, through a compact structure, plane rolling and spherical rolling can be achieved with less drive.
本发明公开具有三种运动模式的仿生移动机器人,包括有定平台D1及动平台D2,定平台D1及动平台D2之间设置有第一运动支链单元及第二运动支链单元;第一运动支链单元包括有依次连接的第一转动副R1、第一运动连杆、第三转动副R3、第二运动连杆及第四转动副R4;第一运动连杆通过第一转动副R1与定平台D1连接,第二运动连杆通过第四转动副R4与动平台D2连接;第二运动支链单元包括有依次连接的第二转动副R2、弯块H1、第七转动副R7、第五运动连杆、第六转动副R6、第四运动连杆、第五转动副R5及第三运动连杆。本发明机器人通过紧凑的结构、以较少的驱动实现了能够进行平面滚动、球面滚动。
Bionic mobile robot with three motion modes
具有三种运动模式的仿生移动机器人
2024-11-08
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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