A variable trunk robot based on a Sarrus mechanism is a single closed chain mechanism and is composed of a left front platform rod (1), a right front platform rod (2), a left rear platform rod (3), a right rear platform rod (4), a left front branch chain rod (5), a right front branch chain rod (6), a left rear branch chain rod (7), a right rear branch chain rod (8), a left front wheel support (9), a right front wheel support (10), a left rear wheel support (11), a right rear wheel support (12), a left front wheel (13), a right front wheel (14), a left rear wheel (15) and a right rear wheel (16). Trunk deformation is completed under different conditions through a steering engine control mechanism, and therefore the robot can pass through complex terrains and obstacles. In addition, the mechanism further has the over-constraint characteristic, so that the rigidity of the mechanism is high, the bearing capacity of the mechanism is improved, and the stability and the accuracy of mechanism movement are achieved by analyzing the movement characteristic and the mechanical characteristic of the mechanism. The method can be well applied to the fields of logistics, military affairs and the like.
一种基于Sarrus机构的可变躯干机器人为单闭链机构,由左前平台杆(1)、右前平台杆(2)、左后平台杆(3)、右后平台杆(4)、左前支链杆(5)、右前支链杆(6)、左后支链杆(7)、右后支链杆(8)、左前轮支架(9)、右前轮支架(10)、左后轮支架(11)、右后轮支架(12)、左前轮(13)、右前轮(14)、左后轮(15)、右后轮(16)组成。通过舵机控制机构在不同情况下完成躯干变形,从而通过复杂地形与障碍。该机构还具有过约束特性,使得机构刚度较高,从而提高机构的承载能力,并且通过对机构的运动特性和力学特性分析,实现机构运动的稳定性和精确性。在物流、军事等领域均能获得很好的应用。
Variable trunk robot based on Sarrus mechanism
一种基于Sarrus机构的可变躯干机器人
2024-11-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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