CN102815347A - Modularized reconfigurable single-link crawling robot and marching method thereof - Google Patents
Modularized reconfigurable single-link crawling robot and marching method thereof Download PDFInfo
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- CN102815347A CN102815347A CN2012102711371A CN201210271137A CN102815347A CN 102815347 A CN102815347 A CN 102815347A CN 2012102711371 A CN2012102711371 A CN 2012102711371A CN 201210271137 A CN201210271137 A CN 201210271137A CN 102815347 A CN102815347 A CN 102815347A
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Abstract
The invention discloses a modularized reconfigurable single-link crawling robot and a marching method thereof. The crawling robot is formed by connecting a plurality of single bodies end to end, wherein each each single body comprises a front arm, a middle arm and a rear arm. The front arms, the middle arms and the rear arms of the single bodies of the crawling robot are used as the joints of the single bodies. In the use, when all the joints are driven by a steering engine of the crawling robot, two U-shaped frames rotate, the front arms and the rear arms rotate in a pitching manner, and the middle arms rotate right and left. The marching of the crawling robot includes a rectilinear motion gait and an angle steering regulating gait. A control method provided by the invention is simple and efficient, is convenient for the expansion of a system, and supports the bionics study. The crawling robot has the advantages that all the single bodies are assembled conveniently and have consistent structure, thereby realizing strong universality; and all the single bodies can be repeatedly used, thereby reducing the cost.
Description
Technical field
The invention belongs to the Robotics field, relate to climbing robot, be a kind of modular reconfigurable strand formula climbing robot and mode of progression thereof.
Background technology
Climbing robot has characteristics such as the alerting ability of height, powerful comformability and compact conformation usually, is widely used in complicated, dangerous environment such as the shake back disaster relief, flood, tsunami, also usually is applied to bionical research, thereby receives broad research.
Like the patent No. is CN200610054565.3; Patent name is the Chinese invention patent of Inchworm type creeping robot device; Disclose a kind of Inchworm type creeping robot device, partly formed by preceding gripping mechanism, back gripping mechanism, flexible waist, safe locking device etc.The front and back gripping mechanism that utilizes alternation and the flexible waist that can extend and shorten with cooperate, advance as Inchworm type.
The patent No. is CN201010219094.3 for another example; Patent name is the Chinese invention patent of nine-degree of freedom four-footed simulating crawling robot; Disclose a kind of nine-degree of freedom four-footed simulating crawling robot, comprised the shank of being made up of parallel four-bar linkage that precursor, back body are identical with four structures, drive motor quantity is few; And foot can be creeped and can not break away all the time perpendicular to ground at various complicated earth surfaces.
But at present there is following problem in known climbing robot: (1) centralized to have line control, installs complicatedly, is not easy to system extension (2) complicated in mechanical structure, and wayward, cost higher (3) locomitivity is not enough.
The proposition of modular reconfigurable robot notion provides solution for it.The modular reconfigurable robot utilizes connectivity and the interchangeability between the module; And the ambient condition information that perceives of module sensors; Automatically change whole configuration through the connection opening operation between the module with moving each other; The extension movement form is accomplished multiple motion and operation task, has characteristics such as good compatible with environment, task adaptive capacity and selfreparing.
Summary of the invention
The problem that the present invention will solve is: defectives such as existing climbing robot exists that control algorithm is complicated, assembling inconvenience and locomitivity deficiency, the present invention provide a kind of easy to assembly, locomitivity strong and the modular reconfigurable strand formula climbing robot that is easy to control.
Technical scheme of the present invention is: a kind of modular reconfigurable strand formula climbing robot, and join end to end by a plurality of monomers and to form, said monomer is formed by forearm, middle arm and postbrachium,
Forearm comprises preceding right U-shaped frame, preceding left U-shaped frame, forearm circuit board, forearm steering wheel, forearm driving shaft, forearm driven shaft and butt joint top guide, and said preceding right U-shaped frame and preceding left U-shaped frame are formed by a base plate and two connecting plates, and two connecting plates are symmetricly set on the both sides of base plate; Constitute the U-shaped structure; The forearm steering wheel is fixed in the preceding right U-shaped frame by the steering wheel fixed mount, and is electrically connected with the forearm circuit board, and the connecting plate of preceding right U-shaped frame and preceding left U-shaped frame is hinged by forearm driving shaft and forearm driven shaft respectively; Constitute a complete framework; The forearm circuit board is fixed in the said framework, and wherein the forearm driving shaft is fixedlyed connected with preceding left U-shaped frame, and the forearm driven shaft is fixedlyed connected with preceding right U-shaped frame; The output shaft interlock of forearm driving shaft and forearm steering wheel; On the base plate of left U-shaped frame, outside the left U-shaped frame, the base plate of preceding right U-shaped frame was provided with screwed hole before being positioned at before the butt joint top guide was arranged on;
Middle arm comprises U-shaped frame, following U-shaped frame, middle arm circuit board, middle arm steering wheel, middle arm driving shaft and middle arm driven shaft, and the said U-shaped frame of going up is formed by a base plate and two connecting plates with following U-shaped frame, and two connecting plates are symmetricly set on the both sides of base plate; Constitute the U-shaped structure; In the arm steering wheel be fixed on down in the U-shaped frame by the steering wheel fixed mount, and with middle arm circuit board electricity in succession, it is hinged that the connecting plate of last U-shaped frame and following U-shaped frame passes through middle arm driving shaft and middle arm driven shaft respectively; Constitute a complete framework; Middle arm circuit board is fixed in the said framework, and wherein middle arm driving shaft is fixedlyed connected with last U-shaped frame, and middle arm driven shaft is fixedlyed connected with following U-shaped frame; The output shaft interlock of middle arm driving shaft and middle arm steering wheel; The base plate of last U-shaped frame is provided with the screwed hole corresponding with the base plate of preceding right U-shaped frame, and two U-shaped frames are connected by bolt by said screwed hole, and the base plate of following U-shaped frame is provided with screwed hole;
Postbrachium comprises the right U-shaped frame in back, the left U-shaped frame in back, postbrachium circuit card, postbrachium steering wheel, postbrachium axle drive shaft and postbrachium driven shaft, and the right U-shaped frame in said back is formed by a base plate and two connecting panels with the left U-shaped frame in back, and two connecting panels are symmetricly set on the both sides of base plate; Constitute the U-shaped structure; The postbrachium steering wheel is fixed in the left U-shaped frame in back through the steering wheel fixed mount, and is electrically connected with the postbrachium circuit card, and the connecting panel of left U-shaped frame in back and the right U-shaped frame in back is hinged through postbrachium axle drive shaft and postbrachium driven shaft respectively; Constitute a complete framework; The postbrachium circuit card is fixed in the said framework, and wherein the postbrachium axle drive shaft is captiveed joint with the right U-shaped frame in back, and the postbrachium driven shaft is captiveed joint with the left U-shaped frame in back; The output shaft interlock of postbrachium axle drive shaft and postbrachium steering wheel; The base plate of the left U-shaped frame in back be provided with middle arm under the cooresponding tapped bore of base plate of U-shaped frame, two U-shaped frames are connected by bolt through said tapped bore, the base plate of the right U-shaped frame in back is provided with draw-in groove; Said draw-in groove is corresponding with the forearm butt joint top guide of another monomer, constitutes interface arrangment;
Forearm is with middle arm, when middle arm is connected with postbrachium, and the direction of axle drive shaft is vertical each other.
Right U-shaped frame before said, preceding left U-shaped frame, go up the U-shaped frame, the base plate of U-shaped frame, the left U-shaped frame of right U-shaped frame in back and back is an oblong of the same size down.
The mode of progression of above-mentioned a kind of modular reconfigurable strand formula climbing robot is that the forearm of climbing robot monomer, middle arm and postbrachium are the joint of monomer, during climbing robot work; The steering wheel running in its joint of living in of the circuit card in each joint control, each joint is under the driving of self steering wheel, and two U-shaped frames rotate; Forearm and postbrachium are pitch rotation; Middle arm is a left-right rotation, and advancing of climbing robot comprises that straight-line motion gait and angle turn to the adjustment gait
The straight-line motion gait is the periodic motion; At first be initial condition, through the pitch rotation action of monomer forearm and postbrachium, utilize joint and ground-surface friction force then; Realization travels forward; Get back to initial condition until each joint, accomplish the motion of one-period, for the straight-line motion of modular reconfigurable strand formula climbing robot following one-period ready; Modular reconfigurable strand formula climbing robot integral body with wave push ahead, in the straight-line motion process, the middle arm of each monomer all is in the passive movement state;
The angular adjustment gait is the periodic motion; Initial condition at first, modular reconfigurable strand formula climbing robot alternately contacts constantly adjustment through two nodes of the forward and backward arm of each monomer and middle arm with ground-surface then, wherein in arm rotate the adjustment angle; Forearm, postbrachium utilization and ground-surface friction force be self-position fixedly; Fulcrum when rotating as middle arm carries out angular adjustment, gets back to initial condition until each joint; Accomplish the motion of one-period, modular reconfigurable strand formula climbing robot is realized the continuous adjustment of angle through the adjustment in a plurality of cycles.
Beneficial effect of the present invention mainly shows: 1, control method is simply efficient, is convenient to system extension, and can carry out bionics Study; 2, monomer is easy to assembly, and each unitary construction is consistent, highly versatile; 3, each monomer can repeated usage, thereby has reduced cost.
Description of drawings
Fig. 1 is the constructional drawing of monomer of the present invention.
Fig. 2 is the top view of monomer of the present invention.
Fig. 3 is the front elevation of monomer of the present invention.
Fig. 4 is a forearm constructional drawing of the present invention.
Fig. 5 is a forearm top view of the present invention.
Fig. 6 is arm configuration figure among the present invention.
Fig. 7 is an arm front elevation among the present invention.
Fig. 8 is rear arm structure figure of the present invention.
Fig. 9 is a postbrachium top view of the present invention.
Figure 10 is a postbrachium front elevation of the present invention.
Figure 11 is the example structure figure of modular reconfigurable strand formula climbing robot of the present invention.
Figure 12 is the straight-line motion gait figure of modular reconfigurable strand formula climbing robot embodiment of the present invention.
Figure 13 is the angular adjustment gait figure of modular reconfigurable strand formula climbing robot embodiment of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done further explain.
Referring to Fig. 1, monomer of the present invention mainly is made up of forearm 1, middle arm 2 and postbrachium 3.
Referring to Fig. 2, this figure is the top view of monomer.
Referring to Fig. 3, this figure is the front elevation of monomer.
Referring to Fig. 4 and Fig. 5, right U-shaped frame 105 before forearm comprises, preceding left U-shaped frame 101, forearm steering wheel 104, forearm steering wheel fixed mount 103, forearm circuit card 102, forearm axle drive shaft 108, forearm driven shaft 106 and connect top guide 107.Right U-shaped frame 105 is formed by a base plate and two connecting panels with preceding left U-shaped 101 frames before said; Two connecting panels are symmetricly set on the both sides of base plate; Constitute the U-shaped structure; Forearm steering wheel fixed mount 103 is fixed together forearm steering wheel 104 and preceding right U-shaped frame 105, in the left U-shaped frame 105, is the control circuit of control forearm action on the forearm circuit card 102 before forearm circuit card 102 is fixed on.Forearm driven shaft 106 is fixed with preceding right U-shaped frame 105 usefulness screws, and forearm axle drive shaft 108 is fixed with preceding left U-shaped frame 101.Forearm axle drive shaft 108 inboards are provided with tapped bore, with the output shaft outside thread interlock of steering wheel 104, realize interlock.Before right U-shaped frame 105 be one with preceding left U-shaped frame 101 through forearm axle drive shaft 108 and forearm driven shaft 106 hinge mounted, become a joint of monomer.In the time of forearm steering wheel 104 energising rotation, left U-shaped frame 101 rotations before driving through forearm axle drive shaft 108, preceding right U-shaped frame 105 keeps motionless relatively with forearm steering wheel 104, forms each other between right U-shaped frame 105 and the preceding left U-shaped frame 101 before then and rotates.Forearm driven shaft 106 plays axial supporting role.Connection top guide 107 is set on the base plate of the preceding left U-shaped frame 101 of forearm, is used to realize the connection between each monomer, be connected, be designed with tapped bore on four angles of preceding right U-shaped frame 105, be used for realizing being connected of forearm and arm with the postbrachium of another monomer.
Referring to Fig. 6 and Fig. 7; Middle arm comprises U-shaped frame 201, following U-shaped frame 202, middle arm steering wheel fixed mount 203, middle arm steering wheel 204, middle arm circuit card 206, middle arm axle drive shaft 208 and middle arm driven shaft 205; The said U-shaped frame 201 of going up is formed by a base plate and two connecting panels with following U-shaped frame 202; Two connecting panels are symmetricly set on the both sides of base plate, constitute the U-shaped structure, and middle arm steering wheel 204 is fixed on down in the U-shaped frame 202 through middle arm steering wheel fixed mount 203; The connecting panel of last U-shaped frame 201 and following U-shaped frame 202 is hinged through middle arm axle drive shaft 208 and middle arm driven shaft 205 respectively; Constitute a complete framework, middle arm circuit card 206 is fixed in the U-shaped frame 201, the control circuit that moves for arm in the control on the middle arm circuit card 206; Wherein middle arm axle drive shaft 208 is captiveed joint with last U-shaped frame 201; In arm driven shaft 205 captive joint with following U-shaped frame 202, the output shaft of middle arm axle drive shaft 208 and middle arm steering wheel 204 links, the base plate of last U-shaped frame 201 is provided with the cooresponding tapped bore of base plate with the preceding right U-shaped frame 105 of forearm; Two U-shaped frames are connected by bolt through said tapped bore; Following U-shaped frame 202 is in full accord with the preceding right U-shaped frame 105 of forearm, and base plate is provided with tapped bore, is used for being connected of arm and postbrachium.
Referring to Fig. 8, Fig. 9 and Figure 10; Postbrachium comprises the left U-shaped frame of the right U-shaped frame in back 305, back 301, postbrachium steering wheel 302, postbrachium circuit card 304, postbrachium steering wheel fixed mount 306, postbrachium axle drive shaft 307 and postbrachium driven shaft 303; And be used to realize bonded assembly draw-in groove 308 between the monomer, and the right U-shaped frame 305 in said back is formed by a base plate and two connecting panels with the left U-shaped frame 301 in back, and two connecting panels are symmetricly set on the both sides of base plate; Constitute the U-shaped structure; Postbrachium steering wheel 302 is fixed in the left U-shaped frame 301 in back through postbrachium steering wheel fixed mount 306, and the connecting panel of left U-shaped frame 301 in back and the right U-shaped frame 305 in back is hinged through postbrachium axle drive shaft 307 and postbrachium driven shaft 303 respectively, constitutes a complete framework; Postbrachium circuit card 304 is fixed in the right U-shaped frame 305 in back, the control circuit that moves for the control postbrachium on the postbrachium circuit card 304.Wherein postbrachium axle drive shaft 307 is captiveed joint with the right U-shaped frame 305 in back; Postbrachium driven shaft 303 is captiveed joint with the left U-shaped frame 301 in back, the output shaft interlock of postbrachium axle drive shaft 307 and postbrachium steering wheel 302, the base plate of the left U-shaped frame 301 in back be provided with middle arm under the cooresponding tapped bore of base plate of U-shaped frame 202; Two U-shaped frames are connected by bolt through said tapped bore; The base plate of the right U-shaped frame 305 in back is provided with draw-in groove 308, and said draw-in groove 308 is corresponding with the forearm butt joint top guide of another monomer, constitutes interface arrangment.
The forearm of the same monomer of the present invention, middle arm and postbrachium all are to be connected through tapped bore, between the monomer are to connect through connecting top guide.The last U-shaped frame 201 of middle arm also can be provided with draw-in groove 207, and said draw-in groove structure is the same with draw-in groove 308 structures of postbrachium, is used for the later expansion of arm and uses.
Referring to Figure 11, be embodiments of the invention, modular reconfigurable strand formula climbing robot is made up of 3 monomers, is connected from beginning to end with draw-in groove through top guide between each monomer.The forearm of climbing robot monomer, middle arm and postbrachium are the joint of monomer; During climbing robot work; The steering wheel running in its joint of living in of the circuit card in each joint control, each joint is under the driving of self steering wheel, and two U-shaped frames rotate; Forearm and postbrachium are pitch rotation, and middle arm is a left-right rotation.
Referring to Figure 12, be the modular reconfigurable strand formula climbing robot straight-line motion gait figure of the embodiment of the invention.Three monomers amount to 9 joint J
1～J
9, Step1～Step6 is an orbit period, referring to table 1, and the gait table during for modular reconfigurable strand formula climbing robot straight-line motion, wherein A representes that the joint upward deflects angle θ ,-A representes to deflect down angle θ.
Table 1
Wherein Step1 is an initial condition, and modular reconfigurable strand formula climbing robot is in initial condition, for next procedure is got ready.Among the Step2, joint J
1, J
3And J
6Become by initial condition and to deflect down the θ angle, and joint J
2, J
5And J
8Be middle arm, in whole straight-line motion process, be in passive state always.Joint J
4And J
9Become by initial condition and to upward deflect the θ angle, joint J
7Temporarily be in passive state in this stage.So, entire machine people just forms two trapezoidal waves, for robot integral body is moved ready forward.Among the Step3, joint J
1With J
3Become and upward deflect the θ angle, joint J by deflecting down the θ angle
4And J
9Become and deflect down the θ angle, joint J by upward deflecting the θ angle
6Get back to initial condition, joint J by deflecting down the θ angle
7Become by initial condition and to upward deflect the θ angle.In the process that these joints change, the robot segment distance that moves forward.Among the Step4, joint J
1And J
3Become and deflect down the θ angle, joint J by upward deflecting the θ angle
4Become and upward deflect the θ angle, joint J by deflecting down the θ angle
6Become by initial condition and to deflect down the θ angle, joint J
7Temporarily be in passive state in this stage, joint J
9Get back to initial condition by deflecting down the θ angle.In the process that these joints change, the robot segment distance that moves forward again.Among the Step5, joint J
1Get back to initial condition, joint J by deflecting down the θ angle
3Become and upward deflect the θ angle, joint J by deflecting down the θ angle
4Get back to initial condition, joint J by upward deflecting the θ angle
6Get back to initial condition, joint J by deflecting down the θ angle
7Get back to initial condition, joint J
9Become by initial condition and to deflect down the θ angle.In the process that these joints change, the robot segment distance that moves forward again.Moved a segment distance so, again forward.Among the Step6, all nodes are all got back to initial condition, for following one-period prepares.Repeating the step of Step1 to Step6, modular reconfigurable strand formula climbing robot is whole just can push ahead to wave.
Referring to Figure 13, be the modular reconfigurable strand formula climbing robot angular adjustment gait figure of the embodiment of the invention.Step1～Step6 is an orbit period; Gait table when table 2 is modular reconfigurable strand formula climbing robot angular adjustment, wherein A representes that the joint upward deflects angle θ ,-A representes to deflect down angle θ; B representes joint deflection angle η left, and-B representes deflection angle η to the right.When the pass of modular reconfigurable climbing robot joint number changes, as long as the increase and decrease columns rebulids new gait table and gets final product.
Table 2
Wherein Step1 is the climbing robot virgin state, and whole climbing robot is in extended configuration.In Step2, joint J
1And J
9Become by initial condition and to deflect down the θ angle, action is not done in all the other joints, makes joint J
2~ J
8Be in vacant state.Among the Step3, joint J at first
2And J
8Deflection η angle, joint J then left respectively to the right,
1And J
9Get back to initial condition by deflecting down the θ angle.Among the Step4, joint J
3Become by initial condition and to upward deflect the θ angle, it is motionless that all the other joints keep.Among the Step5, joint J
2Get back to initial condition, joint J by deflection η angle to the right
3Get back to initial condition, joint J by upward deflecting the θ angle
7Become by initial condition and to upward deflect the θ angle.Among the Step6, joint J
8Get back to initial condition, joint J by deflection η angle left
7Get back to initial condition by upward deflecting the θ angle, thereby make whole climbing robot in a state of nature.Through Step1～Step6, modular reconfigurable strand formula climbing robot is accomplished an angular adjustment.
Claims (3)
1. modular reconfigurable strand formula climbing robot is characterized in that being joined end to end by a plurality of monomers and forms, and said monomer is formed by forearm, middle arm and postbrachium,
Forearm comprises preceding right U-shaped frame, preceding left U-shaped frame, forearm circuit board, forearm steering wheel, forearm driving shaft, forearm driven shaft and butt joint top guide, and said preceding right U-shaped frame and preceding left U-shaped frame are formed by a base plate and two connecting plates, and two connecting plates are symmetricly set on the both sides of base plate; Constitute the U-shaped structure; The forearm steering wheel is fixed in the preceding right U-shaped frame by the steering wheel fixed mount, and is electrically connected with the forearm circuit board, and the connecting plate of preceding right U-shaped frame and preceding left U-shaped frame is hinged by forearm driving shaft and forearm driven shaft respectively; Constitute a complete framework; The forearm circuit board is fixed in the said framework, and wherein the forearm driving shaft is fixedlyed connected with preceding left U-shaped frame, and the forearm driven shaft is fixedlyed connected with preceding right U-shaped frame; The output shaft interlock of forearm driving shaft and forearm steering wheel; On the base plate of left U-shaped frame, outside the left U-shaped frame, the base plate of preceding right U-shaped frame was provided with screwed hole before being positioned at before the butt joint top guide was arranged on;
Middle arm comprises U-shaped frame, following U-shaped frame, middle arm circuit board, middle arm steering wheel, middle arm driving shaft and middle arm driven shaft, and the said U-shaped frame of going up is formed by a base plate and two connecting plates with following U-shaped frame, and two connecting plates are symmetricly set on the both sides of base plate; Constitute the U-shaped structure; In the arm steering wheel be fixed on down in the U-shaped frame by the steering wheel fixed mount, and with middle arm circuit board electricity in succession, it is hinged that the connecting plate of last U-shaped frame and following U-shaped frame passes through middle arm driving shaft and middle arm driven shaft respectively; Constitute a complete framework; Middle arm circuit board is fixed in the said framework, and wherein middle arm driving shaft is fixedlyed connected with last U-shaped frame, and middle arm driven shaft is fixedlyed connected with following U-shaped frame; The output shaft interlock of middle arm driving shaft and middle arm steering wheel; The base plate of last U-shaped frame is provided with the screwed hole corresponding with the base plate of preceding right U-shaped frame, and two U-shaped frames are connected by bolt by said screwed hole, and the base plate of following U-shaped frame is provided with screwed hole;
Postbrachium comprises the right U-shaped frame in back, the left U-shaped frame in back, postbrachium circuit card, postbrachium steering wheel, postbrachium axle drive shaft and postbrachium driven shaft, and the right U-shaped frame in said back is formed by a base plate and two connecting panels with the left U-shaped frame in back, and two connecting panels are symmetricly set on the both sides of base plate; Constitute the U-shaped structure; The postbrachium steering wheel is fixed in the left U-shaped frame in back through the steering wheel fixed mount, and is electrically connected with the postbrachium circuit card, and the connecting panel of left U-shaped frame in back and the right U-shaped frame in back is hinged through postbrachium axle drive shaft and postbrachium driven shaft respectively; Constitute a complete framework; The postbrachium circuit card is fixed in the said framework, and wherein the postbrachium axle drive shaft is captiveed joint with the right U-shaped frame in back, and the postbrachium driven shaft is captiveed joint with the left U-shaped frame in back; The output shaft interlock of postbrachium axle drive shaft and postbrachium steering wheel; The base plate of the left U-shaped frame in back be provided with middle arm under the cooresponding tapped bore of base plate of U-shaped frame, two U-shaped frames are connected by bolt through said tapped bore, the base plate of the right U-shaped frame in back is provided with draw-in groove; Said draw-in groove is corresponding with the forearm butt joint top guide of another monomer, constitutes interface arrangment;
Forearm is with middle arm, when middle arm is connected with postbrachium, and the direction of axle drive shaft is vertical each other.
2. a kind of modular reconfigurable strand formula climbing robot according to claim 1, it is characterized in that said before right U-shaped frame, preceding left U-shaped frame, go up the U-shaped frame, the base plate of U-shaped frame, the left U-shaped frame of right U-shaped frame in back and back is an oblong of the same size down.
3. the mode of progression of claim 1 or 2 described a kind of modular reconfigurable strand formula climbing robots; It is characterized in that the forearm of climbing robot monomer, middle arm and postbrachium are the joint of monomer, during climbing robot work, the steering wheel running in its joint of living in of circuit card control in each joint; Each joint is under the driving of self steering wheel; Two U-shaped frames rotate, and forearm and postbrachium are pitch rotation, and middle arm is a left-right rotation; Advancing of climbing robot comprises that straight-line motion gait and angle turn to the adjustment gait
The straight-line motion gait is the periodic motion; At first be initial condition, through the pitch rotation action of monomer forearm and postbrachium, utilize joint and ground-surface friction force then; Realization travels forward; Get back to initial condition until each joint, accomplish the motion of one-period, for the straight-line motion of modular reconfigurable strand formula climbing robot following one-period ready; Modular reconfigurable strand formula climbing robot integral body with wave push ahead, in the straight-line motion process, the middle arm of each monomer all is in the passive movement state;
The angular adjustment gait is the periodic motion; Initial condition at first, modular reconfigurable strand formula climbing robot alternately contacts constantly adjustment through two nodes of the forward and backward arm of each monomer and middle arm with ground-surface then, wherein in arm rotate the adjustment angle; Forearm, postbrachium utilization and ground-surface friction force be self-position fixedly; Fulcrum when rotating as middle arm carries out angular adjustment, gets back to initial condition until each joint; Accomplish the motion of one-period, modular reconfigurable strand formula climbing robot is realized the continuous adjustment of angle through the adjustment in a plurality of cycles.
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| CN111923032A (en) * | 2020-10-12 | 2020-11-13 | 中国科学院沈阳自动化研究所 | Modular reconfigurable orthogonal joint chain type robot |
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| CN104002888B (en) * | 2014-05-30 | 2016-04-06 | 东北大学 | A kind of snake-shaped robot based on quadrangular mechanism |
| CN106926227A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of open-ended modularity mechanical arm |
| CN109383659A (en) * | 2017-08-13 | 2019-02-26 | 屈娟娟 | A kind of polypody modularized robot that can freely assemble |
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