The invention discloses a planar omnidirectional three-legged stepping robot based on piezoelectric wafer driving, and relates to the technical field of robots, the planar omnidirectional three-legged stepping robot comprises a base, a driving mechanism A, a driving mechanism B, a driving mechanism C and three actuating mechanisms, the three driving mechanisms are uniformly distributed on the outer side of the base at an angle of 120 degrees, each actuating mechanism is connected with any driving mechanism, and the driving mechanism A, the driving mechanism B, the driving mechanism C and the three actuating mechanisms are arranged on the base. The driving mechanism A comprises a driving hinge, a radial outer foot and a plurality of piezoelectric crystal plates, the driving hinge comprises an assembling end A and a driving end A, the radial outer foot comprises an assembling end B and a driving end B, and the piezoelectric crystal plates are used for enabling the driving end A and the driving end B to generate periodic deformation under the driving of control voltage and driving the driving hinge and the radial outer foot to generate deformation; the three driving mechanisms are arranged, only one driving mechanism is driven each time, all the driving mechanisms move in the same direction and then are powered off at the same time, and then plane omni-directional stepping output of the robot is achieved.
本发明公开了一种基于压电晶片驱动的平面全向三足步进机器人,涉及机器人技术领域,包括基座、驱动机构A、驱动机构B、驱动机构C和三个执行机构,三个驱动机构呈120度均匀分布在基座外侧,每个执行机构均分别与任意一个驱动机构连接,驱动机构A包括驱动铰链、径向外足和多个压电晶片,驱动铰链包括装配端A和驱动端A,径向外足包括装配端B和驱动端B,压电晶片用于在控制电压驱动下分别使驱动端A和驱动端B产生周期性变形,带动驱动铰链和径向外足产生变形,从而带动驱动机构产生运动,驱动机构有三个,且每次只驱动一个驱动机构,每个驱动机构都向同一个方向移动再同时断电,进而实现机器人的平面全向步进输出。
Plane omnidirectional three-legged stepping robot based on piezoelectric wafer driving
一种基于压电晶片驱动的平面全向三足步进机器人
2025-05-09
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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