CN100391778C - Portable reconfigurable crawler robot - Google Patents
Portable reconfigurable crawler robot Download PDFInfo
- Publication number
- CN100391778C CN100391778C CNB2005100630492A CN200510063049A CN100391778C CN 100391778 C CN100391778 C CN 100391778C CN B2005100630492 A CNB2005100630492 A CN B2005100630492A CN 200510063049 A CN200510063049 A CN 200510063049A CN 100391778 C CN100391778 C CN 100391778C
- Authority
- CN
- China
- Prior art keywords
- module
- robot
- pipe link
- joint
- caterpillar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The present invention discloses a portable reconfigurable crawler robot which is composed of a motion mechanism and a control module, wherein the control module is arranged in a control box; the motion mechanism is composed of a basic motion module, a rotary joint module and a connecting rod mode; the rotary joint module and the control box are installed in the same side surface of a double vertical machine frame of the basic motion module; the connecting rod module is installed on one end of a driven wheel axle of the basic motion module; the connecting rod module can be used for connecting the combination of each reconfigurable crawler robot and the other reconfigurable crawler robot. The robot of the present invention adopts a modularization independent design proposal. Each module is provided with a standard connecting interface. The present invention is convenient to install, replace and debug, and the reconfiguration of the crawler robot configuration can be realized. The robot of the present invention has strong adaptability to complicated terrain environment, and has various reconstruction deformation properties and excellent motion performance.
Description
Technical field
The present invention relates to a kind of portable reconfigurable crawler robot, this robot is made up of a plurality of standalone modules, has restructural feature and modular characteristic.
Background technology
Along with the demand of development of technology and human society, robot is applied to the every aspect in the social life.Can't enter or have the zone of harm to carry out operation at some human body, the for example detection of plant maintenance in celestial body detecting, the nuke industry and maintenance, underfloor duct, fire-fighting, military surveillance, mine are safeguarded and are dug up mine or the like, in these baroque environment, all require robot to possess the ability of good adaptation to the ground environment; The narrow and small zone in the space requires robot to possess smaller volume and practical flexibly structure again.Traditional robot can't adapt to working environment complicated and changeable and task because the restriction of self physical construction has determined the simplification of exercise performance that it had and function.Therefore, some famous research institutions begin one's study and develop reconstruction robot both at home and abroad, explore some difficult problems on the reconstruction robot structure design.Yet existing research concentrates on the research of Reconfigurable Theory mostly, and is less to the research of reconstruction robot with practical value.
A kind of " Mondularization of MiniatureTracked Reconnaissance Robot " disclosed in " the Proceedings of the 2004 IEEE intemational Conferenceon Robotics and Biomimetics " in August, 2004.
Summary of the invention
The purpose of this invention is to provide a kind of portable reconfigurable crawler robot, this robot adopts modularization independent design scheme, each module has the connecting interface of standard, the convenient installation, change and debugging, by the various combination form of each module, realized the restructural of caterpillar robot configuration.Robot of the present invention has the adaptive capacity stronger to the complex-terrain environment, and has multiple reconstruct deformability, possesses good exercise performance.
A kind of portable reconfigurable crawler robot of the present invention is made of kinematic mechanism and control module, and described control module is installed in the control box.Described kinematic mechanism is made up of foundation motion module, rotary joint module and pipe link module, and rotary joint module and control box are installed on the double vertical frame same side of foundation motion module; The pipe link module is installed on the end of follower shaft of foundation motion module, and the pipe link module is used to connect the combination of each reconfigurable crawler robot and another reconfigurable crawler robot; Described foundation motion module is made of double vertical frame, crawler belt, track adjusting wheel, motor, flower wheel, drive wheel, universal-joint, driven cone gear, initiative taper generating gear, follower shaft and universal-joint fixed mount, the two ends of double vertical frame are separately installed with drive wheel and flower wheel, and track adjusting wheel, motor, universal-joint fixed mount He Fan machine fixed mount are installed on the two inboard Rack Bodies of double vertical frame; Motor output shaft is connected with universal-joint, and universal-joint is installed on the universal-joint fixed mount, is installed in initiative taper generating gear and the engagement of driven cone gear on the universal-joint, and driven cone gear is installed on the axle of drive wheel; Described rotary joint module You Fan machine fixed mount Fan machine, reverse gear, first order transmission gear, the mouth that second stage transmission gear and third stage transmission gear constitute Fan machine on the Fan machine An Zhuan Zai Fan machine fixed mount is connected with first order transmission gear, first order transmission gear and the engagement of second stage transmission gear, second stage transmission gear and third stage transmission gear are fixed together, and on of An Zhuan Zai Fan machine fixed mount, third stage transmission gear with reverse gear mesh, reversing gear is installed on the pipe link module, the pipe link module is connected an end of follower shaft, and the other end of pipe link module can not be connected with any mechanism; Described pipe link module is cylindric, which is provided with a plurality of tapped bore that connect usefulness that are used to tighten up.
Described portable reconfigurable crawler robot, the other end of its pipe link module can be connected on the follower shaft of foundation motion module of second caterpillar robot, is combined to form the two joint paralleling model caterpillar robots or the two joint series model robots that have torsion knuckle.On second caterpillar robot of the ensemble machine philtrum of this kind structure the rotary joint module is not installed.
Described portable reconfigurable crawler robot, the other end of its pipe link module can be connected on the follower shaft of foundation motion module of second caterpillar robot, the other end of the follower shaft of second caterpillar robot is connected on the end of second pipe link module, the other end of second pipe link module is connected on the follower shaft of foundation motion module of the 3rd caterpillar robot, is combined to form three joint string and the pattern caterpillar robots that have two torsion knuckles.On second caterpillar robot of the ensemble machine philtrum of this kind structure the rotary joint module is not installed.
Described portable reconfigurable crawler robot, the other end of its pipe link module can be connected on the follower shaft of foundation motion module of second caterpillar robot, the other end of the follower shaft of second caterpillar robot is connected on the end of second pipe link module, the other end of second pipe link module is connected on the follower shaft of foundation motion module of the 4th caterpillar robot, the other end of the follower shaft of the 4th caterpillar robot is connected on the end of the 3rd pipe link module, the other end of the 3rd pipe link module is connected on the follower shaft of foundation motion module of the 3rd caterpillar robot, is combined to form four joint string and the pattern caterpillar robots that have two torsion knuckles.On second caterpillar robot of the ensemble machine philtrum of this kind structure and the 4th caterpillar robot the rotary joint module is not installed.
The advantage of portable reconfigurable crawler robot of the present invention: (1) adopts modularization independent design scheme, and each module has the connecting interface of standard, and convenient the installation changed and debugging; (2) traveling mechanism adopts track structure, and it is strong to have a landform comformability, and driving stability is reliable; (3) ROBOT CONTROL is adopted distributed controlling schemes, its control structure is simple, flexible; (4) various piece of inside modules all adopts the pattern of independent encapsulation, can realize the performance of plug and play; (5) hardware configuration is compact to design, reasonable, makes that reconfigurable crawler robot volume size of the present invention is little.
Description of drawings
Fig. 1 is a reconstruction robot schematic appearance of the present invention.
Fig. 2 is a pipe link module schematic appearance of the present invention.
Fig. 3 is the foundation motion module assembly drowing that the present invention does not install crawler belt.
Fig. 4 is a rotary joint module assembly drowing of the present invention.
Fig. 5 is two joint paralleling model structure robots.
Fig. 6 is two joint series model structure robots.
Fig. 7 is three joint string and mode configuration robots.
Fig. 8 is four joint series model structure robots.
Among the figure: 1. foundation motion module 2. rotary joint modules 3. pipe link modules 4. control boxs
101. double vertical frame 102. crawler belts 103. track adjusting wheels 104. motors 105. flower wheels
106. drive wheel 107. universal-joints 108. driven cone gears
109. initiative taper generating gear 110. follower shafts 111. universal-joint fixed mounts
201. Fan machine fixed mount 202. Fan machines 203. reverse gear 204. first order transmission gears
205. second stage transmission gear 206. third stage transmission gears
5. the 3rd caterpillar robot of 6. second caterpillar robots 7. of first caterpillar robot
8. the 4th caterpillar robot 9. second pipe link modules 10. the 3rd pipe link module
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Reconfigurable crawler robot among the present invention is made up of the commutative module that a cover has various sizes and performance characteristic, can be assembled into the robot of various not isomorphism types, therefore has stronger adaptive capacity to environment, has changeable form, simple structure, strong body and cheap advantages such as cost.Commutative module is meant can be independently, foundation motion module 1, rotary joint module 2, pipe link module 3 and the control module of also realization different machines people capable of being combined structural change, it is complete just to have constituted as shown in Figure 1 one through the combination of above-mentioned module, the caterpillar robot that can execute the task.
In the present invention, control module is as the control core of reconfigurable crawler robot, receive control personnel's order by wireless data transmission module, commander is controlling the concrete action of robot, not only finish control, realize the basic exercise of robot actuator---advance, retreat, turn left, turn right; Also be responsible for the information of receiving sensor, and to information handle with return message to upper computer; Control the motion of rotary joint module simultaneously, finish the variation of reconstruction robot configuration.The relevant information of control module in August, 2004 in international conference collection of thesis title: publish among IEEEInternational Conference on Robotics and Biomimetics 2004. (Chinese translation: robotics and bionics international conference) page number P456～P460, author: Zou Dan, Wang Tianmiao, Liang Jianhong, Han Guang. title of article: Modularization ofMiniature Tracked Reconnaissance Robot (Chinese translation: the modular design and the experimental study of microminiature crawler type reconnaissance robot).So in patent application of the present invention, control module is not described in detail.
See also Fig. 1～shown in Figure 4, the present invention is a kind of portable reconfigurable crawler robot, constitute by kinematic mechanism and control module, described control module is installed in the control box 4, described kinematic mechanism is made up of foundation motion module 1, rotary joint module 2 and pipe link module 3, and rotary joint module 2 and control box 4 are installed on double vertical frame 101 same sides of foundation motion module 1; Pipe link module 3 is installed on the end of follower shaft 110 of foundation motion module 1, and pipe link module 3 is used to connect the combination of each reconfigurable crawler robot and another reconfigurable crawler robot; Described foundation motion module 1 is made of double vertical frame 101, crawler belt 102, track adjusting wheel 103, motor 104, flower wheel 105, drive wheel 106, universal-joint 107, driven cone gear 108, initiative taper generating gear 109, follower shaft 110 and universal-joint fixed mount 111, the two ends of double vertical frame 101 are separately installed with drive wheel 106 and flower wheel 105, and track adjusting wheel 103, motor 104, universal-joint fixed mount 111 He Fan machine fixed mounts 201 are installed on the two inboard Rack Bodies of double vertical frame 101; Motor 104 output shafts are connected with universal-joint 107, and universal-joint 107 is installed on the universal-joint fixed mount 111, are installed in initiative taper generating gear 109 and driven cone gear 108 engagements on the universal-joint 107, and driven cone gear 108 is installed on the axle of drive wheel 106; Described rotary joint module 2 You Fan machine fixed mounts 201 Fan machines 202, reverse gear 203, first order transmission gear 204, the mouth that second stage transmission gear 205 and third stage transmission gear 206 constitute Fan machine 202 on the Fan machine 202 An Zhuan Zai Fan machine fixed mounts 201 is connected with first order transmission gear 204, first order transmission gear 204 and 205 engagements of second stage transmission gear, second stage transmission gear 205 is fixed together with third stage transmission gear 206, and on of An Zhuan Zai Fan machine fixed mount 201, third stage transmission gear 206 with reverse gear 203 engagements, reversing gear 203 is installed on the pipe link module 3, pipe link module 3 is connected an end of follower shaft 110, and the other end of pipe link module 3 can not be connected with any mechanism; Described pipe link module 3 is cylindric, which is provided with a plurality of tapped bore that connect usefulness that are used to tighten up.
In the present invention, in the portable reconfigurable crawler robot, owing to be modularized design scheme, each module has the independent standard interface, so the other end of pipe link module 3 can be connected on the follower shaft of foundation motion module of second caterpillar robot 6, is combined to form the two joint paralleling model caterpillar robots or the two joint series model robots that have torsion knuckle.Two joint paralleling model robots as shown in Figure 5, two reconfigurable crawler robots are made up by pipe link module 3, follower shaft 110 ends of first reconfigurable crawler robot 5 are connected with pipe link module 3, what one end of pipe link module 3 was connected with rotary joint module 2 reverses gear 203, and the other end of pipe link module 3 is connected the robot that forms paralleling model on the follower shaft of second reconfigurable crawler robot 6.Because the drive pattern in upset joint can omit rotary joint module 2, to reach the purpose that economizes on resources and reduce robot weight on second reconfigurable crawler robot 6.
Two joint series model robots in the present invention as shown in Figure 6, the robot of this kind series model is to be made of the rotation of paralleling model robot by torsion knuckle module 2.
In this portable reconfigurable crawler robot, the other end of pipe link module 3 can be connected on the follower shaft of foundation motion module of second caterpillar robot 6, the other end of the follower shaft of second caterpillar robot 6 is connected on the end of second pipe link module 9, the other end of second pipe link module 9 is connected on the follower shaft of foundation motion module of the 3rd caterpillar robot 7, is combined to form three joint string and the pattern caterpillar robots that have two torsion knuckles.Because the drive pattern in upset joint can omit rotary joint module 2, to reach the purpose that economizes on resources and reduce robot weight on second reconfigurable crawler robot 6.Three joint strings and pattern robot are as shown in Figure 7, this kind pattern robot is made up of three reconfigurable crawler robots, wherein two reconfigurable crawler robots are placed (containing rotary joint module 2) side by side, the two ends of another reconfigurable crawler robot (no rotary joint module 2) by its follower shaft 110 be connected to two reconfigurable crawler robots in the middle of constitute.
In portable reconfigurable crawler robot of the present invention, the other end of pipe link module 3 can be connected on the follower shaft of foundation motion module of second caterpillar robot 6, the other end of the follower shaft of second caterpillar robot 6 is connected on the end of second pipe link module 9, the other end of second pipe link module 9 is connected on the follower shaft of foundation motion module of the 4th caterpillar robot 8, the other end of the follower shaft of the 4th caterpillar robot 8 is connected on the end of the 3rd pipe link module 10, the other end of the 3rd pipe link module 10 is connected on the follower shaft of foundation motion module of the 3rd caterpillar robot 7, is combined to form four joint string and the pattern caterpillar robots that have two torsion knuckles.On second caterpillar robot 6 and the 4th caterpillar robot 8 rotary joint module 2 is not installed, to reach the purpose that economizes on resources and reduce robot weight.Four joint strings and pattern robot are as shown in Figure 8, this kind pattern robot is made up of four reconfigurable crawler robots, wherein two reconfigurable crawler robots are placed (containing rotary joint module 2) side by side, in addition the two ends of two reconfigurable crawler robots (no rotary joint module 2) by its follower shaft 110 be connected to two reconfigurable crawler robots in the middle of formation, wherein do not contain between the reconfigurable crawler robot of rotary joint module 2 a pipe link module 3 be installed.
Portable reconfigurable crawler robot of the present invention has been developed the reconfigurable crawler robot that is used to finish complex-terrain scouting operation.From the characteristics of reconstruction robot, studied modular mechanical electric structure and control method and realized.Caterpillar robot is by four foundation motion modules, and three pipe link modules and two rotary joint modules are formed, and by the various combination form of each module, have realized the restructural of caterpillar robot configuration.Caterpillar robot adopts distributed control structure, the restructural of control system when research has realized that machine configurations changes.Scout operation by real simulation building inner room, verified that reconfigurable crawler robot has possessed complex-terrain adaptive capacity to environment and restructural performance simply and easily.
Claims (7)
1. portable reconfigurable crawler robot, constitute by kinematic mechanism and control module, described control module is installed in the control box (4), described kinematic mechanism is made up of foundation motion module (1), rotary joint module (2) and pipe link module (3), and rotary joint module (2) and control box (4) are installed on double vertical frame (101) same side of foundation motion module (1); Pipe link module (3) is installed on the end of follower shaft (110) of foundation motion module (1), and pipe link module (3) is used to connect the combination of each reconfigurable crawler robot and another reconfigurable crawler robot; It is characterized in that:
Described foundation motion module (1) is by double vertical frame (101), crawler belt (102), track adjusting wheel (103), motor (104), flower wheel (105), drive wheel (106), universal-joint (107), driven cone gear (108), initiative taper generating gear (109), follower shaft (110) and universal-joint fixed mount (111) constitute, the two ends of double vertical frame (101) are separately installed with drive wheel (106) and flower wheel (105), track adjusting wheel (103), motor (104), the universal-joint fixed mount (111) He Fan machine fixed mount (201) be installed on the two inboard Rack Bodies of double vertical frame (101); Motor (104) output shaft is connected with universal-joint (107), universal-joint (107) is installed on the universal-joint fixed mount (111), be installed in initiative taper generating gear (109) and driven cone gear (108) engagement on the universal-joint (107), driven cone gear (108) is installed on the axle of drive wheel (106);
Described rotary joint module (2) You Fan machine fixed mount (201) Fan machines (202), reverse gear (203), first order transmission gear (204), the mouth that second stage transmission gear (205) and third stage transmission gear (206) formation Fan machine (202) An Zhuan Zai Fan machine fixed mount (201) are gone up Fan machine (202) is connected with first order transmission gear (204), first order transmission gear (204) and second stage transmission gear (205) engagement, second stage transmission gear (205) is fixed together with third stage transmission gear (206), and on of An Zhuan Zai Fan machine fixed mount (201), third stage transmission gear (206) with reverse gear (203) engagement, reversing gear (203) is installed on the pipe link module (3), pipe link module (3) is connected an end of follower shaft (110), and the other end of pipe link module (3) can not be connected with any mechanism;
Described pipe link module (3) is cylindric, which is provided with a plurality of tapped bore that connect usefulness that are used to tighten up.
2. portable reconfigurable crawler robot according to claim 1, it is characterized in that: the other end of pipe link module (3) can be connected on the follower shaft of foundation motion module of second caterpillar robot (6), is combined to form the two joint paralleling model caterpillar robots or the two joint series model robots that have torsion knuckle.
3. portable reconfigurable crawler robot according to claim 2 is characterized in that: rotary joint module (2) is not installed on second caterpillar robot (6).
4. portable reconfigurable crawler robot according to claim 1, it is characterized in that: the other end of pipe link module (3) can be connected on the follower shaft of foundation motion module of second caterpillar robot (6), the other end of the follower shaft of second caterpillar robot (6) is connected on the end of second pipe link module (9), the other end of second pipe link module (9) is connected on the follower shaft of foundation motion module of the 3rd caterpillar robot (7), is combined to form three joint string and the pattern caterpillar robots that have two torsion knuckles.
5. portable reconfigurable crawler robot according to claim 4 is characterized in that: rotary joint module (2) is not installed on second caterpillar robot (6).
6. portable reconfigurable crawler robot according to claim 1, it is characterized in that: the other end of pipe link module (3) can be connected on the follower shaft of foundation motion module of second caterpillar robot (6), the other end of the follower shaft of second caterpillar robot (6) is connected on the end of second pipe link module (9), the other end of second pipe link module (9) is connected on the follower shaft of foundation motion module of the 4th caterpillar robot (8), the other end of the follower shaft of the 4th caterpillar robot (8) is connected on the end of the 3rd pipe link module (10), the other end of the 3rd pipe link module (10) is connected on the follower shaft of foundation motion module of the 3rd caterpillar robot (7), is combined to form four joint string and the pattern caterpillar robots that have two torsion knuckles.
7. portable reconfigurable crawler robot according to claim 6 is characterized in that: on second caterpillar robot (6) and the 4th caterpillar robot (8) rotary joint module (2) is not installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100630492A CN100391778C (en) | 2005-04-05 | 2005-04-05 | Portable reconfigurable crawler robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100630492A CN100391778C (en) | 2005-04-05 | 2005-04-05 | Portable reconfigurable crawler robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1673016A CN1673016A (en) | 2005-09-28 |
| CN100391778C true CN100391778C (en) | 2008-06-04 |
Family
ID=35045853
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100630492A Expired - Fee Related CN100391778C (en) | 2005-04-05 | 2005-04-05 | Portable reconfigurable crawler robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100391778C (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100522505C (en) * | 2005-12-02 | 2009-08-05 | 中国科学院沈阳自动化研究所 | Portable mobile robot |
| CN100382934C (en) * | 2006-06-19 | 2008-04-23 | 北京航空航天大学 | Butt jointed crawler type mobile robot |
| WO2008073203A2 (en) * | 2006-11-13 | 2008-06-19 | Raytheon Sarcos Llc | Conformable track assembly for a robotic crawler |
| CN101439671B (en) * | 2007-11-21 | 2011-07-20 | 中国科学院沈阳自动化研究所 | Portable mobile robot used on ice and snow surface |
| CN101633166B (en) * | 2009-07-13 | 2014-12-03 | 哈尔滨工业大学深圳研究生院 | Restructurable industrial robot |
| CN102039589B (en) * | 2009-10-16 | 2012-06-13 | 李路 | Modularized disaster rescue robot |
| CN102267503B (en) * | 2011-05-06 | 2012-07-25 | 北京航空航天大学 | Small combined robot formed by monomer throwing robots |
| CN102358361A (en) * | 2011-09-26 | 2012-02-22 | 吉林大学 | Adaptive multi-road-condition caterpillar composite-driving biomimetic robot |
| CN104290830B (en) * | 2014-08-18 | 2016-08-17 | 浙江理工大学 | A kind of drive lacking crawler wheel mechanism |
| CN106183693B (en) * | 2016-08-08 | 2018-11-27 | 中国矿业大学 | The adaptively wheel moving platform of landform and the fire-fighting sniffing robot with it |
| CN106364583B (en) * | 2016-11-25 | 2018-09-11 | 浙江嘉蓝海洋电子有限公司 | The magnetic suck of magnetic adsorption wall climbing robot and driving integrated module |
| CN106428281B (en) * | 2016-11-25 | 2018-09-11 | 浙江嘉蓝海洋电子有限公司 | Magnetic adsorption wall climbing robot |
| CN110510019A (en) * | 2019-08-21 | 2019-11-29 | 中国地震局工程力学研究所 | A kind of self-walking apparatus of self-propelled geotechnical engineering investigation static pressure equipment |
| CN111572655B (en) * | 2020-05-05 | 2021-12-28 | 重庆七腾科技有限公司 | Crawler robot capable of being assembled quickly |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2552648Y (en) * | 2002-07-12 | 2003-05-28 | 阎炳义 | Crawler-type permanent magnet creeping mechanism |
| CN1456467A (en) * | 2003-06-09 | 2003-11-19 | 东华大学 | Moving mechanism of robot in pipe with self position changing four caterpillar feet |
| US20040216931A1 (en) * | 1998-03-27 | 2004-11-04 | Chikyung Won | Robotic platform |
-
2005
- 2005-04-05 CN CNB2005100630492A patent/CN100391778C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040216931A1 (en) * | 1998-03-27 | 2004-11-04 | Chikyung Won | Robotic platform |
| CN2552648Y (en) * | 2002-07-12 | 2003-05-28 | 阎炳义 | Crawler-type permanent magnet creeping mechanism |
| CN1456467A (en) * | 2003-06-09 | 2003-11-19 | 东华大学 | Moving mechanism of robot in pipe with self position changing four caterpillar feet |
Non-Patent Citations (4)
| Title |
|---|
| Modularization of Miniature Tracked Reconnaissance Robot. Zou Dan,Wang Tianmiao,Liang Jianhong,Han Guang.Proceedings of the 2004 IEEE International Conference on Robotics and Biomimetics. 2004 |
| Modularization of Miniature Tracked Reconnaissance Robot. Zou Dan,Wang Tianmiao,Liang Jianhong,Han Guang.Proceedings of the 2004 IEEE International Conference on Robotics and Biomimetics. 2004 * |
| 一种有效爬越楼梯的模块化可重组履带结构. 韩广，王田苗，梁建宏，赵建昌.机器人，第26卷第5期. 2004 |
| 一种有效爬越楼梯的模块化可重组履带结构. 韩广，王田苗，梁建宏，赵建昌.机器人，第26卷第5期. 2004 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1673016A (en) | 2005-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100391778C (en) | Portable reconfigurable crawler robot | |
| CN103287523B (en) | The composite deformation mobile robot that a kind of elastic foot is combined with wheel type motion mechanism | |
| CN103538644B (en) | A kind of robot with rolling movement and sufficient formula walking function | |
| WO2021189677A1 (en) | Limb structure having parallel-driven joint for bionic robot, and bionic robot | |
| CN100469538C (en) | Wall gecko imitation mini-robot | |
| CN203237312U (en) | Combination shape-shifting mobile robot with elastic feet and wheel-type movement mechanism combined | |
| CN103661669A (en) | Wheel-legged robot chassis suspension device | |
| CN108942907B (en) | Modular snake-shaped robot based on parallel mechanism | |
| CN110065054B (en) | Multi-section driving master-slave type snake-shaped robot | |
| CN102897245A (en) | Robot body modularization linkage device for single-drive multi-legged robot | |
| CN201313307Y (en) | Spherical environment detection robot | |
| CN106272542A (en) | Imitative Serpentis search and rescue robot articulation mechanism | |
| CN102773860A (en) | Throwable variable structure spherical robot | |
| CN111894503B (en) | Shale gas drilling type coring crawling mechanism | |
| Soyguder et al. | Design and prototype of a six‐legged walking insect robot | |
| CN201033434Y (en) | Wall lizard imitated microminiature robot | |
| CN106945745A (en) | A kind of sufficient mobile platform of double-deck disc type six | |
| Granosik et al. | Serpentine robots for industrial inspection and surveillance | |
| CN101791802B (en) | Three-degree of freedom under-actuated robot wrist device | |
| CN107310648B (en) | Deformation robot capable of realizing wheel and track replacement | |
| CN102963456A (en) | Teaching robot with six feet | |
| CN102642572B (en) | Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism | |
| Schütz et al. | An intuitive and comprehensive two-load model for series elastic actuators | |
| CN202716955U (en) | Mini track robot based on linkage mechanism | |
| CN202201079U (en) | Hopping robot based on rotating-disc cylindrical-pin driving mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080604 |