CN103241304B - Single-degree-of-freedom walking moving mechanism with three feet - Google Patents
Single-degree-of-freedom walking moving mechanism with three feet Download PDFInfo
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- CN103241304B CN103241304B CN201310183202.XA CN201310183202A CN103241304B CN 103241304 B CN103241304 B CN 103241304B CN 201310183202 A CN201310183202 A CN 201310183202A CN 103241304 B CN103241304 B CN 103241304B
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Abstract
The invention discloses a single-degree-of-freedom walking moving mechanism with three feet. The single-degree-of-freedom walking moving mechanism with the three feet is formed by a left foot A, a middle foot B, a right foot C, a first crank D, a second crank E, a third crank F and a fourth crank G, wherein the left foot A is connected with the first crank D and the second crank E in a rotating mode through a connecting shaft and a left foot motor shaft; the middle foot B is connected with the first crank D and the second crank E in a rotating mode through a connecting shaft and a transmission shaft in the left; the middle foot B is connected with the third crank F and the fourth crank G in a rotating mode through the transmission shaft and a connecting shaft in the right; the right foot C is connected with the third crank F and the fourth crank G in a rotating mode through a connecting shaft and a right foot motor shaft; the first crank D and the fourth crank G are driven by a middle foot motor to synchronously rotate; the second crank E and the third crank F are respectively driven by a left foot motor and a right foot motor to synchronously rotate; and accordingly the single-degree-of-freedom walking moving mechanism with the three feet is formed through the connection. The single-degree-of-freedom walking moving mechanism with the three feet can achieve walking and steering movement gaits through matched movement of the three feet.
Description
Technical field
The present invention relates to a kind of movable mechanism, be specifically related to a kind of single degree of freedom tripodia walking travel mechanism.This mechanism can apply to walking mobile robot, strengthens the adaptive capacity of robot for ground, can also be used for the fields such as military surveillance simultaneously by its special walking move mode.
Background technology
Chinese patent application CN101927796A discloses a kind of single-power parallelogram two-foot moving mechanism.This mechanism is by left sufficient, right foot, and the first crank and the second crank form.Left foot is connected with the first crank and the second crank by first and second adapter shaft.On right foot, the 3rd adapter shaft is installed in one end, other end mounted motor, and is connected with the first crank and the second crank.First crank and the second crank structure and measure-alike.These four revolute pair axis are parallel to each other, composition quadrangle two-foot moving mechanism.By crank, make left sufficient, right sufficient relative sliding thus the athletic posture of generation forward slip.But this mechanism can only complete to travel forward and can not realize turning to.
Summary of the invention
Technical matters to be solved by this invention: design a kind of single degree of freedom tripodia walking travel mechanism that can realize walking and divertical motion, have locomotivity comparatively flexibly simultaneously.
Technical scheme of the present invention: design a kind of ditetragon travel mechanism, integrated model is made up of left sufficient, mesopodium, right sufficient, the first crank, the second crank, the 3rd crank and four-throw.
Left sufficient profile is triangular prism, which is provided with left sufficient adapter shaft and left sufficient motor; Right sufficient monnolithic case, structure are identical with left foot, which is provided with right sufficient adapter shaft and right sufficient motor.Mesopodium profile is polygon prism, to which is provided with on the left of mesopodium motor, transmission shaft, mesopodium adapter shaft on the right side of adapter shaft and mesopodium.
The left end of the first crank is fixedly connected with the left sufficient adapter shaft on left foot, and the right-hand member of the first crank is fixedly connected with the transmission shaft on mesopodium; The left end of the second crank is fixedly connected with the left sufficient motor shaft on left foot, and the right-hand member of the second crank is fixedly connected with adapter shaft on the left of the mesopodium on mesopodium; Three-throw left end is fixedly connected with adapter shaft on the right side of the mesopodium on mesopodium, and three-throw right-hand member is fixedly connected with the right sufficient motor on right foot; The left end of four-throw is fixedly connected with the transmission shaft on mesopodium, and the right-hand member of four-throw is fixedly connected with the right sufficient adapter shaft on right foot;
Wherein the first crank and the second crank are by mesopodium driven by motor synchronous axial system, second crank and the 3rd crank are rotated by left sufficient motor and right sufficient driven by motor respectively, by the above-mentioned tripodia walking travel mechanism having connected and composed 6 bar 7 pairs, and be the mechanism of a single degree of freedom, by left sufficient driven by motor second crank, mesopodium driven by motor first crank, four-throw, right sufficient driven by motor the 3rd crank rotates with identical speed.
This mechanism utilizes parallelogram principle to make left sufficient, right foot and mesopodium realize the motion of mechanism's walking forward alternately to front kiss the earth respectively by driven by motor crank; Utilize parallelogram in the switching of singular position mode of motion simultaneously, make left foot and right sufficient mode of motion produce difference thus realize turning to.
Beneficial effect of the present invention: ditetragon mechanism structure of the present invention is simply compact, with low cost, and can realize travelling forward and turning to, there is stronger kinematic dexterity.
Accompanying drawing explanation
Fig. 1 integrated machine composition
The left sufficient schematic diagram of Fig. 2
The left sufficient exploded view of Fig. 3
The left pedal plate constructional drawing of Fig. 4
The left sufficient echelon sectional view of Fig. 5
The right sufficient schematic diagram of Fig. 6
The right sufficient exploded view of Fig. 7
The right pedal plate constructional drawing of Fig. 8
The right sufficient echelon sectional view of Fig. 9
Figure 10 mesopodium schematic diagram
Figure 11 mesopodium exploded view
Figure 12 transmission shaft structure figure
Figure 13 mesopodium echelon sectional view
Figure 14 crank structure figure
Figure 15 integrated model blast assembly drowing
Figure 16 mechanism singularity position mode of motion figure
Figure 17 integrated model attitude figure
Figure 18 integrated model travels forward gait figure
Figure 19 integrated model turns to gait figure
Detailed description of the invention:
The present invention will be further described by reference to the accompanying drawings.
Single degree of freedom tripodia walking travel mechanism, as shown in Figure 1, comprises left sufficient A, mesopodium B, right sufficient C, the first crank D, the second crank E, the 3rd crank F, four-throw G.
The structure of left sufficient A as shown in Figure 2,3, left sufficient A comprises two left sufficient end caps (A-1), left sufficient protective case (A-3), left pedal plate (A-5), left sufficient motor (A-4), left sufficient adapter shaft (A-2), and its annexation is as follows:
As shown in Figure 4, left pedal plate (A-5) is provided with motor mounting hole (A-5a), mating holes (A-5b), 4 connecting bores (A-5c), and the center of circle line of motor mounting hole (A-5a) and mating holes (A-5b) and left sufficient seamed edge are 45° angle; As shown in Figure 5, left pedal plate (A-5) and left sufficient motor (A-4) are screwed by motor mounting hole (A-5a) and are connected, left sufficient adapter shaft (A-2) is flexibly connected by the mating holes (A-5b) of left pedal plate (A-5), and completes axial location by the shaft shoulder and jump ring; Left pedal plate (A-5) and left sufficient protective case (A-3) are screwed by connecting bore (A-5c) and are connected, left sufficient protective case (A-3) to be screwed with left sufficient end cap (A-1) respectively by tapped bore at two ends and to be connected, and connects and composes left sufficient A by above-mentioned.
The structure of right sufficient C as shown in Figure 6,7, right sufficient C comprises two right sufficient end caps (C-1), right sufficient protective case (C-3), right pedal plate (C-5), right sufficient motor (C-2), right sufficient adapter shaft (C-4), and its annexation is as follows:
As shown in Figure 8, right pedal plate (C-5) is provided with motor mounting hole (C-5a), mating holes (C-5b), 4 connecting bores (C-5c), and motor mounting hole (C-5a) and be 45° angle with the center of circle line of through hole (C-5b) and left sufficient seamed edge be 45° angle; As shown in Figure 5, right pedal plate (C-5) and right sufficient motor (C-2) are screwed by motor mounting hole (C-5a) and are connected, right sufficient adapter shaft (C-4) is flexibly connected by the mating holes (C-5b) of left pedal plate (C-5), and completes axial location by the shaft shoulder and jump ring; Right pedal plate (C-5) and right sufficient protective case (C-3) are screwed by connecting bore (C-5c) and are connected, right sufficient protective case (C-3) to be screwed with right sufficient end cap (C-1) respectively by tapped bore at two ends and to be connected, and connects and composes right sufficient C by above-mentioned.
The structure of mesopodium B is as shown in Figure 10,11, mesopodium B to comprise on the left of two mesopodium end caps (B-1), mesopodium lower casing (B-2), mesopodium upper casing (B-6), motor fixing plate (B-7), mesopodium motor (B-3), mesopodium adapter shaft (B-5), drive bevel gear (B-8), driven wheel of differential (B-9), transmission shaft (B-10) on the right side of adapter shaft (B-4), mesopodium, and its annexation is as follows:
As shown in figure 11, mesopodium motor (B-3) to be screwed with motor fixing plate (B-7) by motor mounting hole and to be connected, and motor finishing bevel gear cuter (B-8) is fixed on by holding screw on the motor shaft of central-shaft motor (B-3); Motor fixing plate (B-7) is screwed with mesopodium lower casing (B-2) and is connected, as shown in figure 12, transmission shaft is provided with two, plane (B-10a) outside jump-ring slot (B-10b), two inner sides jump-ring slot (B-10c); As shown in figure 13, transmission shaft (B-10) forms revolute pair by through hole and mesopodium lower casing (B-2), and complete axial location by transmission shaft (B-10) outside jump-ring slot (B-10b), driven wheel of differential (B-9) is fixedly connected with in transmission shaft plane (B-10a) position by holding screw, and complete axial location with two jump rings in inner side jump-ring slot (B-10c) position, engage with drive bevel gear (B-7), mesopodium lower casing (B-2) is fixedly connected with by screw with mesopodium end cap (B-1) respectively at two ends simultaneously; On the left of mesopodium, on the right side of adapter shaft (B-4), mesopodium, adapter shaft (B-5), respectively by mesopodium upper casing (B-6) both sides mating holes and its formation revolute pair, and completes axial location by the shaft shoulder and jump ring; Mesopodium upper casing (B-6) is screwed is connected with the mesopodium end cap (B-1) of both sides, middle part motor fixing plate (B-7) respectively, connects and composes mesopodium B by above-mentioned.
The structure of the first crank D, the second crank E, the 3rd crank F, four-throw G and measure-alike, for the first crank D, its structure as shown in figure 14 centered by symmetrical structure, two ends have counterbore (D-1) and tapped bore (D-2) respectively.
The annexation of integrated model is as follows:
As shown in figure 15, the counterbore (D-1) at the first crank two ends respectively with left sufficient A adapter shaft (A-2), mesopodium transmission shaft (B-10) inserts and coordinates, and to be completed with holding screw by tapped bore (D-2) and be fixedly connected with, the counterbore (E-1) at the second crank two ends respectively with left sufficient A motor (A-4) output shaft, on the left of mesopodium, adapter shaft (B-4) inserts and coordinates, and to be completed with holding screw by tapped bore (E-2) and be fixedly connected with, the counterbore (F-1) at the 3rd crank two ends respectively with right sufficient C motor (C-2) output shaft, on the right side of mesopodium, adapter shaft (B-5) inserts and coordinates, and to be completed with holding screw by tapped bore (F-2) and be fixedly connected with, the counterbore (G-1) at four-throw two ends respectively with right sufficient C adapter shaft (C-4), mesopodium transmission shaft (B-10) inserts and coordinates, and to be completed with holding screw by tapped bore (G-2) and be fixedly connected with.
By above-mentioned annexation, mesopodium motor (B-3) drives the first crank D, four-throw G synchronous axial system; Left sufficient motor (A-4) drives the second crank, and right sufficient motor (C-2) drives the 3rd crank, forms single degree of freedom tripodia walking travel mechanism.
Description of operation:
Single degree of freedom tripodia walking travel mechanism drives the first crank D, four-throw G synchronous axial system by mesopodium motor (B-3), left sufficient motor (A-4) drives the second crank E to rotate, and right sufficient motor (C-2) drives the 3rd crank F to rotate.
The singular position of integrated model is as shown in Figure 16 (a), for the parallel-crank mechanism between left sufficient A, the first crank D, the second crank E and mesopodium B, when two revolute pairs of the first crank D and two revolute pairs of the second crank E are positioned at same plane, this quadrangular mechanism is positioned at singular position; As shown in Figure 16 (b), when quadrangular mechanism is positioned at singular position, the first crank D with the second crank E with identical speed rotating in same direction time, this mechanism moves in the mode of parallelogram; As shown in Figure 16 (c), when quadrangular mechanism is positioned at singular position, when the first crank D rotates with identical velocity reversal with the second crank E, this mechanism moves in the mode of contra-parallelogram.
Three kinds of attitudes are moved in the walking of single degree of freedom tripodia, as shown in Figure 17 (a), when the direction of the first crank D, four-throw G synchronous axial system is identical with the rotation direction of the second crank E, the 3rd crank F, left sufficient A and mesopodium B, right sufficient C and mesopodium B move in the mode of parallelogram; As shown in Figure 17 (b), when the direction of the first crank D, four-throw G synchronous axial system is identical with the second crank E rotation direction, and during with the 3rd crank F direction of rotation, left sufficient A and mesopodium B moves in the mode of parallelogram, and right sufficient C and mesopodium B moves in the mode of contra-parallelogram; As shown in Figure 17 (c), when direction and the second crank E direction of rotation of the first crank D, four-throw G synchronous axial system, and time identical with the 3rd crank F rotation direction, left sufficient A and mesopodium B moves in the mode of contra-parallelogram, right sufficient C with in be enough to parallelogram mode move.
The control method of integrated model walking movement:
Integrated model is the mechanism of a single degree of freedom, the second crank E is driven by left sufficient motor (A-4), mesopodium motor (B-3) drives the first crank D, four-throw G, right sufficient motor (C-2) drives the 3rd crank F to rotate with identical speed, realizes the walking forward of mechanism by switching three kinds of athletic postures at singular position and turns to two kinds of motion gaits.
As shown in figure 18, integrated model makes left sufficient A, right sufficient C and mesopodium B realize the motion gait of mechanism's walking forward alternately to front kiss the earth respectively by driven by motor crank, and proal 4 steps of mechanism are: the first step, and mesopodium B lifts; Second step, mesopodium is taken a step; 3rd step, left sufficient A, right sufficient C lift; 4th step, left sufficient A, right sufficient C take a step.
The first step: initial condition is as shown in Figure 18 (a), left sufficient A, mesopodium B, right sufficient C are simultaneously and earth surface, first crank D, the second crank E, the 3rd crank F, four-throw G are parallel to the ground, left sufficient motor (A-4) drives the second crank E, mesopodium motor (B-3) drives the first crank D and four-throw G, right sufficient motor (C-2) drives the 3rd crank F synchronous axial system 90 °, left sufficient A and right sufficient C supports ground, mesopodium B is lifted, as shown in Figure 18 (b).
Second step, left sufficient motor (A-4) drives the second crank E, mesopodium motor (B-3) drives the first crank D and four-throw G, right sufficient motor (C-2) drives the 3rd crank F synchronous axial system 180 °, as shown in Figure 18 (c), mesopodium B and left sufficient A, right sufficient C kiss the earth simultaneously.
3rd step: left sufficient motor (A-4) drives the second crank E, mesopodium motor (B-3) drives the first crank D and four-throw G, right sufficient motor (C-2) drives the 3rd crank F synchronous axial system 270 °, as shown in Figure 18 (d), mesopodium B supports ground, and left sufficient A, right sufficient C are lifted.
4th step: left sufficient motor (A-4) drives the second crank E, mesopodium motor (B-3) drives the first crank D and four-throw G, right sufficient motor (C-2) drives the 3rd crank F synchronous axial system 360 °, as shown in Figure 18 (e), mesopodium B, left sufficient A, right sufficient C kiss the earth simultaneously, mechanism completes the walking movement of one-period forward.
The control method that integrated model turns to:
As shown in figure 19, integrated model changes the direction of rotating when singular position by side crank, and make the left foot of mechanism and right sufficient mode of motion generation difference, thus complete and turn to gait, 3 steps that mechanism turns to are: the first step, and mechanism kinematic is to singular position; Second step, mechanism turns to; 3rd step, mechanism returns to initial condition.
The first step: initial condition is as shown in Figure 19 (a), left sufficient A, mesopodium B, right sufficient C are simultaneously and earth surface, first crank D, the second crank E, the 3rd crank F, four-throw G are parallel to the ground, left sufficient motor (A-4) drives the second crank E, mesopodium motor (B-3) drives the first crank D and four-throw G, right sufficient motor (C-2) drives the 3rd crank synchronous forward to rotate, left sufficient A and mesopodium B, right sufficient C and mesopodium B move in the mode of parallelogram, as shown in Figure 19 (b), turn to 45 ° and arrive singular position.
Second step: when singular position, as shown in Figure 19 (b), left sufficient motor (A-4) drives the second crank E negative direction to rotate, mesopodium motor (B-3) drives the first crank D and four-throw G, right sufficient motor (C-2) drives the 3rd crank F also to keep original sense of motion to rotate, as shown in Figure 19 (c), left sufficient A and mesopodium B is with the motion of contra-parallelogram, right sufficient C and mesopodium B moves in the mode of parallelogram, left sufficient A tip contact ground is to mechanism's rear motion, due to the effect of friction counterforce, the sense of motion of integrated model is offset, left sufficient motor (A-4) drives the second crank E negative direction to turn to-135 °, mesopodium motor (B-3) drives the first crank D and four-throw G, right sufficient motor (C-2) drives the 3rd crank F synchronous forward to turn to 225 °, as shown in Figure 19 (d), mechanism arrives singular position again.
3rd step: as shown in Figure 19 (d), when singular position, left sufficient motor (A-4) drives the second crank E to rotate forward, the first crank D and four-throw G is driven with mesopodium motor (B-3), right sufficient motor (C-2) drives the 3rd crank F to rotate forward, left sufficient A and mesopodium B, right sufficient C and mesopodium B moves in the mode of parallelogram, left sufficient motor (A-4) drives the second crank E forward to turning to 0 °, mesopodium motor (B-3) drives the first crank D and four-throw G, right sufficient motor (C-2) drives the 3rd crank F synchronous forward to turn to 360 °, as shown in Figure 19 (e), mesopodium B, left sufficient A, right sufficient C kiss the earth simultaneously, integrated model completes and turns to.
Claims (3)
1. single degree of freedom tripodia walking travel mechanism, it is characterized in that: this mechanism comprises left foot (A), mesopodium (B), right foot (C), the first crank (D), the second crank (E), the 3rd crank (F), four-throw (G), the structure of described left foot (A) and right foot (C) and measure-alike, the structure of described the first crank (D), the second crank (E), the 3rd crank (F), four-throw (G) and measure-alike;
The shape of described left foot (A) is triangular prism, comprising: two left sufficient end caps (A-1), left sufficient protective case (A-3), left pedal plate (A-5), left sufficient motor (A-4), left sufficient adapter shaft (A-2);
Left pedal plate (A-5) is fixed with left sufficient motor (A-4), be also provided with the left sufficient adapter shaft (A-2) of living and connecting, left pedal plate (A-5) is fixedly connected with left sufficient protective case (A-3) simultaneously; Described left sufficient protective case (A-3) two ends are fixedly connected with a left sufficient end cap (A-1) respectively;
The shape of described right foot (C) is triangular prism, comprising: two right sufficient end caps (C-1), right sufficient protective case (C-3), right pedal plate (C-5), right sufficient motor (C-2), right sufficient adapter shaft (C-4);
Right pedal plate (C-5) is fixed with right sufficient motor (C-2), be also provided with the right sufficient adapter shaft (C-4) of living and connecting, right pedal plate (C-5) is fixedly connected with right sufficient protective case (C-3) simultaneously; Described right sufficient protective case (C-3) two ends are fixedly connected with a right sufficient end cap (C-1) respectively;
Described mesopodium (B) shape is polygon prism, which is provided with transmission shaft (B-10) for connecting the first crank (D), four-throw (G), be provided with adapter shaft on the left of mesopodium (B-4), be also provided with adapter shaft on the right side of mesopodium (B-5);
The left end of the first crank (D) is fixedly connected with the left sufficient adapter shaft (A-2) on left foot (A), and the right-hand member of the first crank (D) is fixedly connected with the transmission shaft (B-10) on mesopodium (B);
The left end of the second crank (E) is fixedly connected with left sufficient motor (A-4) axle on left foot (A), and the right-hand member of the second crank (E) is fixedly connected with adapter shaft (B-4) on the left of the mesopodium on mesopodium (B);
The left end of the 3rd crank (F) is fixedly connected with adapter shaft (B-5) on the right side of the mesopodium on mesopodium (B), and the right-hand member of the 3rd crank (F) is fixedly connected with the right sufficient motor (C-2) on right foot (C);
The left end of four-throw (G) is fixedly connected with the transmission shaft (B-10) on mesopodium (B), and the right-hand member of four-throw (G) is fixedly connected with the right sufficient adapter shaft (C-4) on right foot (C);
Single degree of freedom tripodia walking travel mechanism is connected and composed by above-mentioned.
2. single degree of freedom tripodia walking travel mechanism according to claim 1, is characterized in that: mesopodium (B) to comprise on the left of two mesopodium end caps (B-1), mesopodium lower casing (B-2), mesopodium upper casing (B-6), motor fixing plate (B-7), mesopodium motor (B-3), mesopodium adapter shaft (B-5), drive bevel gear (B-8), driven wheel of differential (B-9), transmission shaft (B-10) on the right side of adapter shaft (B-4), mesopodium;
Motor fixing plate (B-7) is fixedly connected with mesopodium motor (B-3), drive bevel gear (B-8) is fixedly connected on by holding screw on the motor shaft of mesopodium motor (B-3), and the lower end of motor fixing plate (B-7) is fixedly connected with mesopodium lower casing (B-2);
Described mesopodium lower casing (B-2) is provided with mating holes, for being rotationally connected with transmission shaft (B-10), the upper fixing driven wheel of differential (B-9) of described transmission shaft (B-10), is fixedly connected with a mesopodium end cap (B-1) respectively at mesopodium lower casing (B-2) two ends;
Mesopodium upper casing (B-6) left side is provided with mating holes, for with mesopodium on the left of adapter shaft (B-4) be rotationally connected, mesopodium upper casing (B-6) left side be provided with mating holes, for mesopodium on the right side of adapter shaft (B-5) be rotationally connected;
Mesopodium upper casing (B-6) is fixedly connected with the mesopodium end cap (B-1) of both sides, middle part motor fixing plate (B-7) respectively, closes, connect and compose mesopodium (B) by above-mentioned with mesopodium lower casing (B-2).
3. single degree of freedom tripodia walking travel mechanism according to claim 1, the control method of mechanism is:
4 steps of mechanism's walking movement are: the first step, and mesopodium (B) lifts; Second step, mesopodium (B) is taken a step; 3rd step, left foot (A), right foot (C) lift; 4th step, left foot (A), right foot (C) are taken a step;
The first step, initial condition, left foot (A), mesopodium (B), right foot (C) are simultaneously and earth surface, first crank (D), the second crank (E), the 3rd crank (F), four-throw (G) are all parallel to the ground, left sufficient motor (A-4) drives the second crank (E), mesopodium motor (B-3) drives the first crank (D) and four-throw (G), right sufficient motor (C-2) drive the 3rd crank (F) synchronous axial system 90 °, left foot (A) and right foot (C) support ground, and mesopodium (B) is lifted;
Second step: left sufficient motor (A-4) drives the second crank (E), mesopodium motor (B-3) drives the first crank (D) and four-throw (G), right sufficient motor (C-2) drive the 3rd crank (F) synchronous axial system 180 °, mesopodium (B) and left foot (A), right foot (C) kiss the earth simultaneously;
3rd step: left sufficient motor (A-4) drives the second crank (E), mesopodium motor (B-3) drives the first crank (D) and four-throw (G), right sufficient motor (C-2) drive the 3rd crank (F) synchronous axial system 270 °, mesopodium (B) supports ground, and left foot (A), right foot (C) are lifted;
4th step: left sufficient motor (A-4) drives the second crank (E), mesopodium motor (B-3) drives the first crank (D) and four-throw (G), right sufficient motor (C-2) drive the 3rd crank (F) synchronous axial system 360 °, mesopodium (B), left foot (A), right foot (C) be kiss the earth simultaneously, and mechanism completes the walking movement of one-period forward;
Mechanism turns to and is divided into three steps to be: the first step, and mechanism moves to singular position from initial position; Second step, mechanism turns to; 3rd step, mechanism returns to initial condition;
The first step: initial condition, left foot (A), mesopodium (B), right foot (C) simultaneously and earth surface, first crank (D), second crank (E), 3rd crank (F), four-throw (G) is all parallel to the ground, left sufficient motor (A-4) drives the second crank (E), mesopodium motor (B-3) drives the first crank (D) and four-throw (G), right sufficient motor (C-2) drives the 3rd crank (F) synchronous forward to rotate, left foot (A) and mesopodium (B), right foot (C) and mesopodium (B) all move in the mode of parallelogram, turn to 45 ° and arrive singular position,
Second step: left sufficient motor (A-4) drives the second crank (E) negative direction to rotate when singular position, mesopodium motor (B-3) drives the first crank (D) and four-throw (G), right sufficient motor (C-2) drives the 3rd crank (F) also to keep original sense of motion to rotate, left foot (A) and mesopodium (B) are with the motion of contra-parallelogram, right foot (C) and mesopodium (B) move in the mode of parallelogram, left foot (A) tip contact ground is to mechanism's rear motion, due to the effect of friction counterforce, the sense of motion of integrated model is offset, left sufficient motor (A-4) drives the second crank (E) negative direction to turn to-135 °, mesopodium motor (B-3) drives the first crank (D) and four-throw (G), right sufficient motor (C-2) drives the 3rd crank (F) synchronous forward to turn to 225 °, mechanism arrives singular position again,
3rd step: when singular position, left sufficient motor (A-4) drives the second crank (E) to rotate forward, the first crank (D) and four-throw (G) is driven with mesopodium motor (B-3), right sufficient motor (C-2) drives the 3rd crank (F) to rotate forward, left foot (A) and mesopodium (B), right foot (C) and mesopodium (B) all move in the mode of parallelogram, left sufficient motor (A-4) drives the second crank (E) forward to turning to 0 °, mesopodium motor (B-3) drives the first crank (D) and four-throw (G), right sufficient motor (C-2) drives the 3rd crank (F) synchronous forward to turn to 360 °, mesopodium (B), left foot (A), right foot (C) is kiss the earth simultaneously, integrated model completes and turns to.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310183202.XA CN103241304B (en) | 2013-05-17 | 2013-05-17 | Single-degree-of-freedom walking moving mechanism with three feet |
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| CN201310183202.XA CN103241304B (en) | 2013-05-17 | 2013-05-17 | Single-degree-of-freedom walking moving mechanism with three feet |
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| CN103241304B true CN103241304B (en) | 2015-07-01 |
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| CN104158121B (en) * | 2014-08-27 | 2017-03-15 | 哈工大机器人集团（哈尔滨）资产经营管理有限公司 | A kind of high-voltage line crusing robot device |
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| SU415187A1 (en) * | 1971-12-22 | 1974-02-15 | ||
| WO2002011956A1 (en) * | 2000-08-04 | 2002-02-14 | Robottec Co., Ltd. | Multiple-legged walking apparatus |
| JP2002331474A (en) * | 2001-05-08 | 2002-11-19 | Kansai Tlo Kk | Bipedality type robot |
| RU2261190C2 (en) * | 2002-11-27 | 2005-09-27 | Иосселиани Дмитрий Александрович | Parallelogram stepping engine |
| CN201329912Y (en) * | 2009-01-15 | 2009-10-21 | 北京交通大学 | Three-pole two-foot walking mechanism |
| CN201646926U (en) * | 2010-05-14 | 2010-11-24 | 扬州大学 | Moving platform for ice surface |
| CN101927796A (en) * | 2010-09-28 | 2010-12-29 | 北京交通大学 | Single-power parallelogram two-foot moving mechanism |
| CN102874340A (en) * | 2012-10-12 | 2013-01-16 | 北京交通大学 | Mobile mechanism with operation function |
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2013
- 2013-05-17 CN CN201310183202.XA patent/CN103241304B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU415187A1 (en) * | 1971-12-22 | 1974-02-15 | ||
| WO2002011956A1 (en) * | 2000-08-04 | 2002-02-14 | Robottec Co., Ltd. | Multiple-legged walking apparatus |
| JP2002331474A (en) * | 2001-05-08 | 2002-11-19 | Kansai Tlo Kk | Bipedality type robot |
| RU2261190C2 (en) * | 2002-11-27 | 2005-09-27 | Иосселиани Дмитрий Александрович | Parallelogram stepping engine |
| CN201329912Y (en) * | 2009-01-15 | 2009-10-21 | 北京交通大学 | Three-pole two-foot walking mechanism |
| CN201646926U (en) * | 2010-05-14 | 2010-11-24 | 扬州大学 | Moving platform for ice surface |
| CN101927796A (en) * | 2010-09-28 | 2010-12-29 | 北京交通大学 | Single-power parallelogram two-foot moving mechanism |
| CN102874340A (en) * | 2012-10-12 | 2013-01-16 | 北京交通大学 | Mobile mechanism with operation function |
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| CN103241304A (en) | 2013-08-14 |
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