The invention discloses a multi-mode moving hexapod robot and a control method thereof in the field of robots. The multi-mode moving hexapod robot comprises a robot body and a control system. The robot body comprises mechanical arms, a robot body, six mechanical legs and six replaceable foot mechanisms, the mechanical legs are symmetrically installed on the two sides of the robot body, three mechanical legs are installed on each side, the mechanical arms are installed on the upper surface of the robot body, and the foot mechanisms are installed on the mechanical legs in a one-to-one mode. The foot mechanism is selected from one of a suction cup, a supporting foot and a combined module, the combined module comprises a Mecanum wheel and a driving motor with an encoder, and the driving motor with the encoder is used for driving the Mecanum wheel to rotate. According to the multi-mode moving hexapod robot and the control method thereof, through the deformable structural design, the multi-mode moving hexapod robot has the advantages of a wheeled robot with excellent movement performance and a legged robot capable of adapting to various terrains.
本发明公开了机器人领域的一种多模态移动六足机器人及其控制方法,包括机器人主体和控制系统;所述机器人主体包括机械臂、机身、六条机械腿和六个可替换的足部机构,所述机械腿对称安装于机身两侧,每一侧安装三条,所述机械臂安装于机身上表面,所述足部机构一对一安装在机械腿上,所述足部机构选自吸盘、支撑足和组合模块中的一种,其中组合模块包括麦克纳姆轮与带有编码器的驱动电机,所述带有编码器的驱动电机用于驱动麦克纳姆轮转动。本发明提供的多模态移动六足机器人及其控制方法通过其可变形的结构设计,兼具运动性能优异的轮式机器人与和可以适应多种地形的腿式机器人的优点。
Multi-mode moving hexapod robot and control method thereof
一种多模态移动六足机器人及其控制方法
2025-04-11
Patent
Electronic Resource
Chinese
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