The invention discloses a rhombohedral octahedron mobile robot which comprises first to sixth vertex units and first to twelfth driving units, the first to sixth vertex units are connected through the driving units, in an initial state, each unit is in a square shape, and the whole robot is in a rhombohedral octahedron shape. A surface center driving deformation mode is adopted, deformation of each single-degree-of-freedom quadrilateral unit is achieved by controlling the rotating angle of a steering engine, then overall deformation is achieved, a triangular surface composed of quadrilateral connecting rod units or rod pieces can serve as a support to conduct rolling movement, rich deformation movement modes can be achieved, and the robot can move rapidly through the sphere-like appearance; the gridding structure enables the robot to have high rigidity and environment adaptability, and the robot can be used for unmanned detection tasks in the field environment.

    本发明公开了一种菱方八面体移动机器人,包括第一至第六顶点单元和第一至第十二驱动单元,第一至第六顶点单元之间通过驱动单元连接,在初始状态下,各个单元呈现正四边形形状,机器人整体为菱方八面体外形,采用面中心驱动的变形方式,通过控制舵机转角实现各单自由度四边形单元的变形,进而实现整体变形,可以四边形连杆单元或杆件组成的三角面作为支撑进行翻滚移动,能实现丰富的变形移动模式,类球形外形可使机器人实现快速移动,网格化的结构使机器人具有较高的刚度与环境适应能力,本发明可用于野外环境无人探测任务。


    Access

    Download


    Export, share and cite



    Title :

    Rhombic octahedron mobile robot


    Additional title:

    一种菱方八面体移动机器人


    Contributors:
    LIU RAN (author) / XU CHAOFAN (author)

    Publication date :

    2025-02-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



    Rhombic car

    WU JUNZHENG / WU YUE | European Patent Office | 2015

    Free access

    Rhombic ruminations

    Warren, N.H. | Engineering Index Backfile | 1944


    Bending of rhombic plates

    WARREN, W. E. | AIAA | 1964


    Rhombic five-bar parallel leg quadruped robot based on improved FOC control algorithm

    MA GUANGYING / TENG BOWEN / YAO YUNLONG et al. | European Patent Office | 2024

    Free access

    Multi-dimensional deformation wing based on regular tetrahedron-octahedron mechanism

    XIAO HONG / GUO WEIMING / GUO HONGWEI et al. | European Patent Office | 2023

    Free access