CN102530120A - Six-user requirement specification (URS) six-foot walking robot - Google Patents
Six-user requirement specification (URS) six-foot walking robot Download PDFInfo
- Publication number
- CN102530120A CN102530120A CN2011104473443A CN201110447344A CN102530120A CN 102530120 A CN102530120 A CN 102530120A CN 2011104473443 A CN2011104473443 A CN 2011104473443A CN 201110447344 A CN201110447344 A CN 201110447344A CN 102530120 A CN102530120 A CN 102530120A
- Authority
- CN
- China
- Prior art keywords
- urs
- platform
- lower platform
- mounting plate
- upper mounting
- 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.)
- Pending
Links
Images
Abstract
Provided is a six-user requirement specification (URS) six-foot walking robot. An upper platform and a lower platform of the six-URS six-foot walking robot are both reversed regular hexagons, six URS branches with identical structures are used for connecting the upper platform and the lower platform, one end of an upper connection rod of each branch is connected with a hook hinge pair U fixed on the upper platform through a bolt, and the other end of the upper connection rod is connected with a lower connection rod through a rotary pair R. The other end of the lower connection rod is connected with the lower platform through a spherical pair S which is connected to the lower platform through bolts through an upper spherical cover and a lower spherical cover. Three branches can be connected with the lower platform in a releasing mode, and claw hands are arranged at the tail ends of the three branches. One ends of three identical long supporting legs are connected to the upper platform, and the other ends of the three identical long supporting legs are arranged on the ground. One ends of three short supporting legs are connected to the lower platform, and the other ends of the three short supporting legs are arranged on the ground. The six-URS six-foot walking robot is high in bearing capacity and stability, large in flexibility and capable of crossing the uneven road surface. In addition, three operation arms can operate coordinately to achieve operations including collecting samples of the reconnaissance environment and the like.
Description
Technical fieldThe invention belongs to the polypody walking robot, particularly a kind of robot with 6DOF parallel connection waist mechanism and three branch operation hands.
Background technologySo far people have worked out multiple walking robot.Delcomyn of Illinois, US university and Nelscon have made famous imitative cockroach robot Biobot 20 end of the centurys.The miniature climbing robot " Spider-bot " that is used for aviation field of U.S. NASA development, profile is the spitting image of spider, and volume has only half size of head part, and is in light weight, can creep on fitfull celestial body surface.Shanghai Communications University has developed small-sized bionic 6-leg robot; Also developed four feet walking robot " JTUWM ", it can be walked with the diagonal line gait.The PVDF force transducer has been installed in its vola, and upper computer utilizes the fuzzy neural network system that force feedback information is handled, and adjustment walking parameter has improved the stability of walking.Chinese Academy of Science Shenyang Institute of Automation has successfully been developed comprehensive six-legged walking machine device people LR-1 under water.Tsing-Hua University has developed " DT-WM "-frame-type three-leg walking robot, five sufficient climbing level robots.Miniature three-leg walking robot that the SMA of people's researchs such as Shanghai Communications University celebrates a victory drives or the like.
But compare with industrial robot, three during the last ten years, and the progress of walking robot is slow, and the laboratory is not walked out in most of research and developments basically.China does not have the research that is applicable to this non-structure environment polypody walking robot of mine at present as yet.And there are problems in present polypody walking robot.At first the gait of polypody walking robot is had nothing in common with each other according to robot architecture's difference.At some landforms, its travel efficiency is very low, and relatively lacks in the research aspect the Robotic Dynamic walking.The working space of robot can be restricted in practical application in addition.Need the development physical construction that volume is little, efficient is high, hardware control system circuit, power-supply system, sensor etc.Need improve the mechanical mechanism design of existing polypody walking robot at last, improve the adaptive capacity of polypody walking robot research platform.
Summary of the inventionThe object of the present invention is to provide that a kind of structure is new, rigidity is big, load-carrying capacity is strong and move six-legged walking machine device people flexibly.The present invention mainly includes upper and lower platform, connects identical URS branch and identical 3 long support legs and 3 short supporting legs of structure of 6 structures of flat-bed up and down.Upper mounting plate and lower platform are hexagon anyway, and six identical URS branched layout are on the platform circumference, and the difference correspondence is six summits of the upper and lower flat-bed of hexagon anyway.Boxed rod one end of each URS branch be connected by the secondary U of Hooke's hinge that is bolted to upper mounting plate; Its other end is connected with an end of lower link through revolute pair R; The other end of this lower link is connected with lower platform through ball secondary S, secondary S of this ball pass through upper and lower ball cover by bolted connection to lower platform.Three branches in the identical URS branch of above-mentioned six structures can throw off with lower platform between be connected, its terminal cleft hand of installing is protruding forward again, realizes gathering, grasps, transmits functions such as article.One end of three identical long support legs is connected on the upper mounting plate circumference by per 120 ° of five equilibriums, the corresponding respectively wherein midway location in three sidelines of hexagon upper mounting plate anyway; Its other end places on the ground; One end of three short supporting legs is connected on the lower platform circumference by per 120 ° of five equilibriums, and the corresponding respectively midway location in other three sidelines of hexagon lower platform anyway staggers with three long support legs of upper mounting plate mutually, and its other end places on the ground.Can the installing drive motor on the R pair in the middle of above-mentioned each URS, rotate through motor-driven R is secondary, can realize upper and lower flat-bed alternating movement.
The upper and lower platform of the 6-URS parallel institution that robot adopted is alternately done fixed platform and moving platform, under both of these case, in order to realize the motion requirement of moving platform, requires corresponding moving platform all will have three one-movement-freedom-degrees and three rotational freedoms.Utilize screw theory can know degree of freedom number under the both of these case and kinetic property analysis: the order of this kinematic screw system is 6, does not have the constraint antispin, and promptly moving platform all has three one-movement-freedom-degrees and three rotational freedoms.Explain that this mechanism satisfies desired degree of freedom number of robot ambulation and kinetic property.
The present invention is having following advantage with present compared with techniques tool:
1, guarantees to have at least three legs to land simultaneously, so just can strengthen its load-carrying capacity and stability.
2, halting when static, three of connecting in the foot of between the last lower platform six can throw off with lower platform between be connected, protruding forward, functions such as realization collection, extracting, transmission.
3, because the local symmetry of its structure, make it can pivot turn, and go up bigger between the lower platform apart from retractility, can make robot cross higher stone, adapt to uneven road surface.
Description of drawings
Fig. 1 is a three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is the three-dimensional simplified schematic diagram of the single branch operation hand of the present invention.
Fig. 3 is the three-dimensional simplified schematic diagram of the two branches of the present invention cooperative operation hand.
Fig. 4 is the three-dimensional simplified schematic diagram of the present invention's three branch's cooperative operation hands.
The specific embodiment
In 6-URS six-legged walking machine device people's shown in Figure 1 three-dimensional simplified schematic diagram; Upper mounting plate 1 and lower platform 5 are hexagon anyway; Connect in six identical in structure URS of upper and lower flat-bed branch 3; Boxed rod one end of each URS branch be connected by the Hooke's hinge U that is bolted to upper mounting plate; Its other end is connected with an end of lower link through revolute pair R, and the other end of this lower link passes through secondary S of ball and is connected with lower platform, secondary S of this ball pass through upper and lower ball cover by bolted connection to lower platform.One end of three identical long support legs 2 is connected on the upper mounting plate circumference by per 120 ° of five equilibriums; The corresponding respectively wherein midway location in three sidelines of hexagon upper mounting plate anyway; Its other end places on the ground, and an end of three short supporting legs 6 is connected on the lower platform circumference by per 120 ° of five equilibriums, the corresponding respectively midway location in other three sidelines of hexagon lower platform anyway; Stagger mutually with three supporting legs of upper mounting plate, its other end places on the ground.Drive motor 4 is contained on the R pair in the middle of each URS, rotates through motor-driven R is secondary, can realize upper and lower flat-bed alternating movement.Halting when static; Between the last lower platform six connect in the side chains three can throw off with lower platform between be connected; Like Fig. 2, shown in 3 and 4, protruding forward, realize gathering, grasp, transmit functions such as article; At this moment the revolute pair in the universal hinge of all the other motion branches is locked, guarantees robot stabilized.
Claims (2)
1. 6-URS six-legged walking machine device people; It comprises upper mounting plate, lower platform, connection identical URS branch and identical 3 long support legs and 3 short supporting legs of structure of six structures of flat-bed up and down, and it is characterized in that: upper mounting plate and lower platform are hexagon anyway, and six identical URS branched layout are on the platform circumference; The difference correspondence is six summits of the upper and lower flat-bed of hexagon anyway; Boxed rod one end of each URS branch be connected by the secondary U of Hooke's hinge that is bolted to upper mounting plate, its other end is connected with an end of lower link through revolute pair R, the other end of this lower link passes through secondary S of ball and is connected with lower platform; Secondary S of this ball through upper and lower ball cover by bolted connection to lower platform; One end of three identical long support legs is connected on the upper mounting plate circumference by per 120 ° of five equilibriums, the corresponding respectively wherein midway location in three sidelines of hexagon upper mounting plate anyway, and its other end places on the ground; One end of three short supporting legs is connected on the lower platform circumference by per 120 ° of five equilibriums; The corresponding respectively midway location in other three sidelines of hexagon lower platform anyway staggers with three long support legs of upper mounting plate mutually, and its other end places on the ground.
2. 6-URS six-legged walking machine device people according to claim 1 is characterized in that: three branches in the identical URS branch of above-mentioned six structures can throw off with lower platform between be connected its terminal cleft hand of installing again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104473443A CN102530120A (en) | 2011-12-28 | 2011-12-28 | Six-user requirement specification (URS) six-foot walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104473443A CN102530120A (en) | 2011-12-28 | 2011-12-28 | Six-user requirement specification (URS) six-foot walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102530120A true CN102530120A (en) | 2012-07-04 |
Family
ID=46338467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011104473443A Pending CN102530120A (en) | 2011-12-28 | 2011-12-28 | Six-user requirement specification (URS) six-foot walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102530120A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103050047A (en) * | 2012-12-11 | 2013-04-17 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
| CN104308839A (en) * | 2014-09-04 | 2015-01-28 | 燕山大学 | Structurally decoupled six-foot drilling and milling robot |
| CN106863278A (en) * | 2017-03-31 | 2017-06-20 | 中北大学 | A kind of PUU of wheel leg type 3 parallel connection mobile robots |
| CN107031321A (en) * | 2017-04-25 | 2017-08-11 | 仲贤辉 | A kind of multi-purpose robot for town road |
| CN107031749A (en) * | 2017-04-25 | 2017-08-11 | 董昕武 | A kind of solar-energy machine people for town road |
| CN108482508A (en) * | 2018-01-12 | 2018-09-04 | 青岛海尔空调电子有限公司 | Walking robot |
| CN110153461A (en) * | 2019-06-26 | 2019-08-23 | 电子科技大学 | Intelligent posture regulation device and its regulation method towards drilling machine in parallel |
| CN110561388A (en) * | 2019-08-30 | 2019-12-13 | 东北大学 | modular mesh robot |
| CN112124641A (en) * | 2020-09-28 | 2020-12-25 | 中国空间技术研究院 | Space landing capture robot |
| CN112693540A (en) * | 2020-12-29 | 2021-04-23 | 燕山大学 | Parallel driving mechanism for crawling mechanical legs |
| CN113002805A (en) * | 2021-02-08 | 2021-06-22 | 北京交通大学 | Multi-mode space capturing mechanism |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2309932Y (en) * | 1997-10-08 | 1999-03-10 | 东北大学 | Three-freedom parallel robot mechanism |
| US20040103738A1 (en) * | 2002-05-23 | 2004-06-03 | Hebei University Of Technology | 3~6-DOF decoupling structure parallel micromanipulator |
| WO2005025816A1 (en) * | 2003-09-16 | 2005-03-24 | Tianjin University | A robot with five-freedom mix couple structure |
| CN1827312A (en) * | 2006-04-18 | 2006-09-06 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| CN101497198A (en) * | 2009-02-24 | 2009-08-05 | 燕山大学 | Three-freedom degree rotary motion parallel connection mechanism with remote motion centre |
| CN101716764A (en) * | 2009-11-11 | 2010-06-02 | 哈尔滨工业大学深圳研究生院 | Five-DOF (degree of freedom) redundance driving hybrid mechanism suitable for vibration reduction |
| CN201808063U (en) * | 2010-09-27 | 2011-04-27 | 南京化工职业技术学院 | Six-degrees-of-freedom parallel robot device |
| CN102069495A (en) * | 2009-11-23 | 2011-05-25 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
-
2011
- 2011-12-28 CN CN2011104473443A patent/CN102530120A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2309932Y (en) * | 1997-10-08 | 1999-03-10 | 东北大学 | Three-freedom parallel robot mechanism |
| US20040103738A1 (en) * | 2002-05-23 | 2004-06-03 | Hebei University Of Technology | 3~6-DOF decoupling structure parallel micromanipulator |
| WO2005025816A1 (en) * | 2003-09-16 | 2005-03-24 | Tianjin University | A robot with five-freedom mix couple structure |
| CN1827312A (en) * | 2006-04-18 | 2006-09-06 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| CN101497198A (en) * | 2009-02-24 | 2009-08-05 | 燕山大学 | Three-freedom degree rotary motion parallel connection mechanism with remote motion centre |
| CN101716764A (en) * | 2009-11-11 | 2010-06-02 | 哈尔滨工业大学深圳研究生院 | Five-DOF (degree of freedom) redundance driving hybrid mechanism suitable for vibration reduction |
| CN102069495A (en) * | 2009-11-23 | 2011-05-25 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN201808063U (en) * | 2010-09-27 | 2011-04-27 | 南京化工职业技术学院 | Six-degrees-of-freedom parallel robot device |
Non-Patent Citations (3)
| Title |
|---|
| 李浩;张玉茹;王党校: "6-RSS并联机构工作空间优化算法对比分析", 《机械工程学报》 * |
| 武光华; 龚烈航; 潘春萍; 王稳华; 李满: "6-UPU电动平台安全性设计分析", 《机械设计》 * |
| 王洪瑞,马力,肖金壮: "一种6-PSS并联机器人动力学模型的建立", 《中国高新技术企业》 * |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103050047B (en) * | 2012-12-11 | 2014-12-24 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
| CN103050047A (en) * | 2012-12-11 | 2013-04-17 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
| CN104308839A (en) * | 2014-09-04 | 2015-01-28 | 燕山大学 | Structurally decoupled six-foot drilling and milling robot |
| CN106863278B (en) * | 2017-03-31 | 2023-04-18 | 中北大学 | Wheel-leg type 3-PUU parallel mobile robot |
| CN106863278A (en) * | 2017-03-31 | 2017-06-20 | 中北大学 | A kind of PUU of wheel leg type 3 parallel connection mobile robots |
| CN107031321A (en) * | 2017-04-25 | 2017-08-11 | 仲贤辉 | A kind of multi-purpose robot for town road |
| CN107031749A (en) * | 2017-04-25 | 2017-08-11 | 董昕武 | A kind of solar-energy machine people for town road |
| CN108482508A (en) * | 2018-01-12 | 2018-09-04 | 青岛海尔空调电子有限公司 | Walking robot |
| CN108482508B (en) * | 2018-01-12 | 2020-12-08 | 青岛海尔空调电子有限公司 | Walking robot |
| CN110153461A (en) * | 2019-06-26 | 2019-08-23 | 电子科技大学 | Intelligent posture regulation device and its regulation method towards drilling machine in parallel |
| CN110561388A (en) * | 2019-08-30 | 2019-12-13 | 东北大学 | modular mesh robot |
| CN112124641B (en) * | 2020-09-28 | 2022-03-18 | 中国空间技术研究院 | Space landing capture robot |
| CN112124641A (en) * | 2020-09-28 | 2020-12-25 | 中国空间技术研究院 | Space landing capture robot |
| CN112693540A (en) * | 2020-12-29 | 2021-04-23 | 燕山大学 | Parallel driving mechanism for crawling mechanical legs |
| CN112693540B (en) * | 2020-12-29 | 2022-03-15 | 燕山大学 | Parallel driving mechanism for crawling mechanical legs |
| CN113002805A (en) * | 2021-02-08 | 2021-06-22 | 北京交通大学 | Multi-mode space capturing mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102530120A (en) | Six-user requirement specification (URS) six-foot walking robot | |
| CN106335052B (en) | A kind of hydraulic pressure climbing level robot | |
| CN107458495B (en) | Leg moving mechanism and quadruped robot | |
| CN104386157B (en) | Quadruped robot with flexible joints | |
| CN102126210B (en) | 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm | |
| CN101913144B (en) | Mobile mechanical arm | |
| CN205168688U (en) | Ball gear drive pole -climbing robot | |
| CN101204815A (en) | Seven degrees of freedom copy man arm of air-powered artificial muscle drive | |
| CN113353172B (en) | Leg structure with low inertia and high bearing capacity and foot type robot applying same | |
| CN110154009B (en) | Bionical snake-shaped robot | |
| CN108910087A (en) | Leg formula landing inspecting robot with passive branch | |
| CN102849140B (en) | Multi-moving-mode bionic moving robot | |
| CN206393631U (en) | A kind of hydraulic pressure climbing level robot | |
| CN103144693A (en) | Leg mechanism for four-footed bionic robot | |
| CN102991601B (en) | Two-degree-of-freedom humanoid ankle joint | |
| CN107298137B (en) | Lying type walking robot | |
| CN204248880U (en) | A kind of multifunctional rescue robot | |
| CN201735092U (en) | Simple search-and-rescue robot | |
| CN101616255A (en) | Throwable scout ball | |
| CN209404660U (en) | Turntable structure and robot | |
| CN104986240B (en) | The walking robot leg configuration of linear drives and four feet walking robot in parallel | |
| CN104386158A (en) | Series elastic actuator-based quadruped robot | |
| CN105108753A (en) | Sucking cup type wall face operation robot | |
| CN104108432A (en) | Inspection robot for iron tower climbing | |
| CN205273662U (en) | For military use bionical operation robot based on bionics principle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20120704 |