The invention discloses a variable-structure tetrahedron truss robot, and relates to the technical field of variable-structure robots. Comprising a central torsion module which is averagely divided into two parts capable of relatively rotating; the multiple upper foot end movement modules are arranged, and the multiple upper foot end movement modules are evenly distributed on the upper half portion of the center twisting module in the radial direction; and the number of the lower foot end movement modules is one or more, and the multiple lower foot end movement modules are evenly distributed on the lower half portion of the center twisting module in the radial direction. The four foot end movement modules and the center torsion module are all flexible mechanisms, movement in the X-axis direction, the Y-axis direction and the Z-axis direction and rotation around the theta x axis, the theta y axis and the theta z axis can be achieved at the same time, the movement track is continuous, controllability is good, the rotation angle of each joint in the movement process can be provided, robot movement control is better achieved, and the robot movement control efficiency is improved. And the robot can well move on a complex terrain.

    本发明公开了一种变结构四面体桁架机器人,涉及变结构机器人技术领域。包括:中心扭转模块,中心扭转模块平均分为可相对转动的的两部分;上足端运动模块,上足端运动模块设置有多个,多个上足端运动模块径向均布在中心扭转模块的上半部分;下足端运动模块,下足端运动模块设置有一个或多个,多个下足端运动模块径向均布在中心扭转模块的下半部分。本发明四个足端运动模块与一个中心扭转模块均为柔性机构,能够同时实现沿X、Y、Z三轴方向的移动以及绕θx、θy、θz三轴的转动,运动轨迹连续,可控性好,能够提供运动中各个关节旋转的角度,更好地实现执行机器人运动控制,使机器人可以很好地在复杂地形上移动。


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    Title :

    Variable-structure tetrahedron truss robot


    Additional title:

    一种变结构四面体桁架机器人


    Contributors:
    MIAO YINAN (author) / ZHANG YIXIN (author) / LEI YANCHENG (author) / WANG JIABAO (author) / LI JIFAN (author) / LI XIAOYAN (author) / HE YANSONG (author) / CHEN XUANHE (author) / WANG SHAOPING (author)

    Publication date :

    2025-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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