CN106272542A - Imitative Serpentis search and rescue robot articulation mechanism - Google Patents

Imitative Serpentis search and rescue robot articulation mechanism Download PDF

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Publication number
CN106272542A
CN106272542A CN201610844729.6A CN201610844729A CN106272542A CN 106272542 A CN106272542 A CN 106272542A CN 201610844729 A CN201610844729 A CN 201610844729A CN 106272542 A CN106272542 A CN 106272542A
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China
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serpentis
imitative
search
hooke
omni
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CN201610844729.6A
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CN106272542B (en
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曹政才
张东
李萌
肖清
赵利美
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Beijing University of Chemical Technology
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Beijing University of Chemical Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints
    • B25J17/0275Universal joints, e.g. Hooke, Cardan, ball joints

Abstract

Imitative Serpentis search and rescue robot articulation mechanism, including two omni-directional wheels, a joint in parallel group, wherein joint in parallel group includes fixed platform, moving platform, two UPS linear actuators, PU linear actuators.This joint has four degree of freedom: flexible, pitching, driftage, omni-directional wheel rotate around axis, imitative Serpentis search and rescue robot joint.The advantage of Fang She robot with wheeled robot can be effectively combined by imitative Serpentis search and rescue robot articulation mechanism, make the feature that imitative Serpentis search and rescue robot had both possessed the imitative Serpentis search and rescue robot multiple degrees of freedom of tradition, volume is little, motion is flexible, adaptive capacity to environment is strong, possess again that wheeled robot movement velocity is fast, control simple advantage, greatly improve the motor capacity of imitative Serpentis search and rescue robot, expansion for imitative Serpentis search and rescue robot motion gait lays the first stone, it is possible to effective improve imitative Serpentis and searches and rescues snake-shaped robot motility in different environments and adaptability.

Description

Imitative Serpentis search and rescue robot articulation mechanism
Technical field
The present invention relates to robot research and engineering field, specifically refer to a kind of fusion wheeled robot and snake-shaped robot Advantage, it is possible to adapt to the imitative Serpentis search and rescue robot articulation mechanism of complicated landform.
Technical background
In recent years, human economy develops rapidly with science and technology, process of industrialization gradual perfection, and production scale increases day by day, with This simultaneously, chemicals blast, the mine frequency that production accident occurs such as cave in is more and more higher, cause huge casualties with Economic loss.After calamity, the field rescue of the very first time is most important, but disaster field circumstance complication, rescue personnel cannot be introduced into Disaster field, brings huge challenge to rescue work.Meanwhile, unipolitics general layout is complicated, outburst local war can Can property still exist, the threat of terrorism is growing.In the Special Warfare Mission such as war, anti-terrorism, the fastest slips into enemy Position is effectively investigated and is tended to capture information commanding elevation, seizes the initiative, and plays to closing weight for obtaining the triumph fought The effect wanted.And special assignment mesorelief is complicated, brings great risk to investigation tasks and be difficult to the resistance predicted.Therefore grind Study carefully and the robot that the mankind perform disaster assistance, special assignment information is investigated can be replaced to have huge realistic meaning.Biological Serpentis Not having the lower limb but can be freely-movable in various landform, show superpower adaptive capacity to environment, the mankind be with biological Serpentis as inspiration Have developed imitative Serpentis search and rescue robot, imitative Serpentis search and rescue robot can move in various environment with the motion mode of mimic biology Serpentis, And disguised strong in motor process, these characteristics make imitative Serpentis search and rescue robot can patrol at military affairs investigation, disaster collection, pipeline The fields such as inspection show huge application potential.
The type of drive of the most imitative Serpentis search and rescue robot is broadly divided into in-wheel driving, crawler type drives and servo driving, and three Plant type of drive and be respectively arranged with pluses and minuses.In-wheel driving simple in construction, the smooth ground speed of travel are fast, but in rugged topography with face Drive effect cannot meet requirement during barrier;Crawler type drivingly surface pressure is little, and landform is adaptable, it is possible to smoothly Face, soft terrain motion, but its structure is complicated, quality is big, and mechanical wear is serious, actuating speed is with in-wheel driving gap relatively Greatly;Servo driving can be applicable to various landform, and can carry out variation forms of motion extension, but controls complexity, calculates Amount is big, it is impossible to realize flexible motion.
A imitative Serpentis search and rescue robot joint that disclosure satisfy that human's demand should possess the fast of in-wheel driving robot Speed motor capacity, the ground of crawler type driven machine people adapt to the same of ability and servo driving robot multi-posture motion feature Time, it is achieved modular mechanism design and motor control, but not yet have the imitative Serpentis fully meeting requirements above to search and rescue machine at present Person joint occurs.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of imitative Serpentis search and rescue robot articulation mechanism, solve wheel at present Formula imitates that Serpentis search and rescue robot adaptive capacity to environment is not enough, crawler belt snake-shaped robot speed slow, steering wheel snake-shaped robot very flexible Etc. problem.Multi-freedom parallel connection articulation mechanism with orthogonal active omnidirectional wheel altogether, in joint, omni-directional wheel can overall be made For orthogonal drivewheel, the steamboat in omni-directional wheel again can be as the follower on imitative Serpentis search and rescue robot body surface.Work as omni-directional wheel When rotating around module axis, imitative Serpentis search and rescue robot is capable of wheel type movement;When the linear actuator in parallel in joint Time flexible, each the little follower in omni-directional wheel contacts generation anisotropy frictional force with ground so that imitative Serpentis search and rescue robot Can mimic biology Serpentis various motion gait.Imitative Serpentis search and rescue robot articulation mechanism is except being capable of wheeled robot and tradition Beyond the motion gait of imitative Serpentis search and rescue robot, be capable of quickly climbing by multiple improvement attitude description function, obstacle detouring, make Serpentis search and rescue robot adaptive capacity to environment must be imitated significantly promote, be suitably executed earthquake, mine disaster search and rescue, pipeline inspection patrol, battlefield feelings The tasks such as report investigation.
The present invention, in addition to parallel connection joint group and omni-directional wheel being together in series, also carries out modularized design.Each module Being made up of two omni-directional wheels and a joint in parallel group, compound mode is middle for joint in parallel group, and both sides are omni-directional wheel, each Module assembles independent controller and driving means.Modularized design ensure that and replaces rapidly when part of module breaks down Change, it is also possible to adjust the quantity in joint according to the demand of task.Each module is equipped with independent controller and driver, and Assembling omni-directional wheel in both sides, joint in parallel so that one wheeled robot of the conduct that each module can be independent, and can complete straight Line motion, no-radius are turned and the motion of non-zero semidiameter turn.
The present invention imitates Serpentis search and rescue robot articulation mechanism, realizes by the following technical solutions:
Described imitative Serpentis search and rescue robot articulation mechanism is gone here and there by the first omni-directional wheel I, joint in parallel group II and the second omni-directional wheel III Joint group becomes, and the first omni-directional wheel I is identical with the structure of the second omni-directional wheel III, two of first omni-directional wheel the I, second omni-directional wheel III Propping up wheel concentric fixed installation, and rotate to an angle, it is ensured that follower covers whole omni-directional wheel circumference, two omni-directional wheels connect The 13rd revolute R13 on axle 24 is connected with fixed platform and the traverser of joint in parallel group respectively, the 13rd revolute Electric rotating machine is installed on R13, controls the first omni-directional wheel I and the second omni-directional wheel III by the velocity of rotation controlling electric rotating machine Rotating speed.Joint in parallel group II is by fixed platform, first linear actuator the IV, second linear actuator the V, the 3rd linear actuator VI and moving platform composition.Article three, the first linear drives P1 of linear actuator, the second linear drives secondary P2, the 3rd linear drives pair Independent linear drive motor is installed, by the control to three movement branched chain collapsing lengths on P3, it is achieved joint in parallel group Flexible, pitching and driftage.
Described fixed platform is by circular end cap base 1, movement branched chain sleeve the 4, first Hooke's hinge pedestal the 2, first Hooke's hinge Pedestal 3 forms, and movement branched chain sleeve the 4, first Hooke's hinge pedestal the 2, first Hooke's hinge pedestal 3 is solid with circular end cap base 1 respectively It is scheduled on together.
Described moving platform is by circular end cap base the 5, the 3rd Hooke's hinge pedestal the 6, the 4th Hooke's hinge pedestal the 7, the 5th Hooke Hinge pedestal 8 forms, the 3rd Hooke's hinge pedestal the 6, the 4th Hooke's hinge pedestal the 7, the 5th Hooke's hinge pedestal 8 respectively with circular end cap base 5 are fixed together.
Described first linear actuator IV and the second linear actuator VI are identical UPS side chains, and linear actuator IV wraps Rotate containing first ball-type connecting shaft the 9, the 4th ball-type connecting shaft the 17, first linear drives P1, the first movement branched chain sleeve 17, first Hooke's hinge pedestal the 12, first revolute R1, the second revolute R2, the 5th revolute R9, the 6th revolute R6, the 11st revolute R11;The upper and lower end of the first linear motion secondary P1 connects the first movement branched chain sleeve the 15, the 11st revolute R11 respectively, and first Second revolute pair R2 and the 4th ball-type connecting shaft 21 of movement branched chain sleeve 15 lower end are connected, the first linear drives secondary P1 upper end 11st revolute pair R11 and first rotates Hooke's hinge pedestal 12 and is connected, and first rotates the 6th rotation of Hooke's hinge pedestal 12 upper end Secondary R6 is connected with the first ball-type connecting shaft 9.
Described second linear actuator VI is UPS side chain, the second linear actuator VI comprise the 3rd ball-type connecting shaft 11, Five ball-type connecting shaft the 18, second linear drives P2, the second movement branched chain sleeve the 16, the 3rd rotate Hooke's hinge pedestal the 14, the 3rd rotation Turn secondary R3, the 4th revolute R4, the 7th revolute R7, the 8th revolute R8, the 12nd revolute R12;Second linear motion pair The upper and lower end of P2 connects the second movement branched chain sleeve the 16, the 12nd revolute R12, the second movement branched chain sleeve 16 lower end respectively The 4th revolute pair R4 and the 5th ball-type connecting shaft 18 be connected, the 12nd revolute pair R12 of the second linear drives secondary P2 upper end with 3rd rotates Hooke's hinge pedestal 14 is connected, and the 3rd rotates the 8th revolute pair R8 and the connection of the 3rd ball-type of Hooke's hinge pedestal 14 upper end Axle 11 is connected.
Described 3rd linear actuator V is PU side chain, and it is straight that linear actuator V comprises the second ball-type connecting shaft the 10, the 3rd Line drives P3, the second rotation Hooke's hinge pedestal the 13, the 9th revolute R9, the tenth revolute R10, the 13rd revolute R13;3rd 13rd revolute pair R13 of linear drives secondary P3 upper end and second rotates Hooke's hinge pedestal 13 and is connected, and second rotates Hooke's hinge base Tenth revolute pair R10 and the second ball-type connecting shaft 10 of seat 13 upper ends are connected.
5th revolute R5 of the first linear actuator IV upper end and the 3rd of traverser fix Hooke's hinge pedestal 8 even Connecing, the first revolute R1 of the first linear actuator IV lower end is fixed Hooke's hinge pedestal 2 with the first of fixed platform and is connected.
7th revolute R7 of the second linear actuator VI upper end and the first of traverser fix Hooke's hinge pedestal 6 even Connecing, the 3rd revolute R3 of the second linear actuator VI lower end is fixed Hooke's hinge pedestal 3 with the second of fixed platform and is connected.3rd 9th revolute R9 of linear actuator V upper end is fixed Hooke's hinge pedestal 7 with the second of traverser and is connected.
3rd linear motion secondary P3 of the 3rd linear actuator V lower end is with first fixing chain bush 4 of fixed platform even Connect.
Due to the fact that and take above technical scheme, it has the advantage that
The each motion module of the present invention is made up of with two omni-directional wheels one group of parallel connection joint, and each module has four freedom Degree, it is possible to realize pitching, go off course, flexible and around central axis, promote motility further, increase activity space.By control The collapsing length of three movement branched chain linear actuators of system and omni-directional wheel velocity of rotation, it is achieved the motion to imitative Serpentis search and rescue robot Control, decrease operand, simplify the control process of robot, it is simple to the design and optimization of subsequent motion control algolithm.Entirely To wheel and the combination in joint in parallel, make Novel imitation Serpentis search and rescue robot collect the advantage of wheeled robot and traditional Fang She robot in Integrally, strengthen its adaptive capacity to environment, enable the multitask work under competent complex environment.
The modular demand being designed to according to different task changes the module number of Fang She robot, goes out in robot Detect efficiently and keep in repair during existing fault, when performing intelligence reconnaissance work, multiple module can be decomposed into and independently scout, Disguised higher, obtain quantity of information bigger.
Accompanying drawing explanation
Fig. 1 is the imitative Serpentis search and rescue robot articulation mechanism schematic diagram of the present invention;
Fig. 2 is the omni-directional wheel schematic diagram of the present invention;
Fig. 3 .1 is the joint in parallel group schematic diagram of the present invention;
Fig. 3 .2 is the fixed platform schematic diagram of the present invention;
Fig. 3 .3 is the moving platform schematic diagram of the present invention;
Fig. 3 .4 is the linear actuator schematic diagram of the present invention;
Fig. 4 .1 is the stretching motion schematic diagram of the present invention;
Fig. 4 .2 is the elevating movement schematic diagram of the present invention;
Fig. 4 .3 is the yawing rotation schematic diagram of the present invention;
Fig. 5 is the imitative Serpentis search and rescue robot schematic diagram using the present invention to imitate Serpentis search and rescue robot articulation mechanism;
In figure: I is upper omni-directional wheel, II is joint in parallel group, and III is lower omni-directional wheel, IV is the first linear actuator, V is Second linear actuator, VI being the 3rd linear actuator, 1 is fixed platform circle end cap base, and 2 is first to fix Hooke's hinge base Seat, 3 being second to fix Hooke's hinge pedestal, 4 is fixing movement branched chain sleeve, and 5 be moving platform nose circle pedestal, and 6 is the 3rd fixing brave Gram hinge pedestal, 7 is the 4th to fix Hooke's hinge pedestal, and 8 is the 5th to fix Hooke's hinge pedestal, and 9 is the first ball-type connecting shaft, and 10 is the Two ball-type connecting shafts, 11 is the 3rd ball-type connecting shaft, and 12 is the first rotation Hooke's hinge pedestal, and 13 is the second rotation Hooke's hinge base Seat, 14 is the 3rd rotation Hooke's hinge pedestal, and 15 is the first movement branched chain sleeve, and 16 is the second movement branched chain sleeve, and 17 is the 4th Ball-type connecting shaft, 18 is the 5th ball-type connecting shaft, and 19 is a wheel driven pulley on omni-directional wheel, and 20 is a wheel wheel shaft on omni-directional wheel, 21 Taking turns driven pulley for lower of omni-directional wheel, 22 is that lower of omni-directional wheel takes turns wheel shaft, and 23,24 is omni-directional wheel connecting shaft, and 25 is snakehead, and 26 is Serpentis Tail, R1 is the first revolute pair, and R2 is the second revolute pair, and R3 is the 3rd revolute pair, and R4 is the 4th revolute pair, and R5 is the 5th rotation Pair, R6 is the 6th revolute pair, and R7 is the 7th revolute pair, and R8 is the 8th revolute pair, and R9 is the 9th revolute pair, and R10 is the tenth rotation Pair, R11 is the 11st revolute pair, and R12 is the 12nd revolute pair, and R13 is the 13rd revolute pair, and R14 is the 14th revolute pair, P1 Being that the first linear drives is secondary, P2 is that the second linear drives is secondary, and P3 is that the 3rd linear drives is secondary.
Detailed description of the invention
Figure below combines accompanying drawing, and the present invention will be further described.
See Fig. 1, the imitative Serpentis search and rescue robot articulation mechanism that the present invention provides comprise omni-directional wheel I, joint in parallel group II, Lower omni-directional wheel III, the connecting shaft 23 of upper omni-directional wheel and the connecting shaft 24 of lower omni-directional wheel are circular with the moving platform of joint in parallel group respectively End cap base 5 and the fixing connection of fixed platform circle end cap base 1.
Seeing Fig. 2, described omni-directional wheel I is propped up wheel by two omni-directional wheels and an omni-directional wheel connecting shaft 23 forms, each omnidirectional Wheel wheel is made up of an omni-directional wheel wheel shaft 20 and eight followers 19, the 14th revolute R14 and omnidirectional on follower 19 Wheel wheel shaft connects.
Seeing Fig. 3 .1-3.4, described joint in parallel group II comprises fixed platform, and (fixed platform nose circle pedestal 1, first is fixed Hooke's hinge pedestal 2, second fix Hooke's hinge pedestal 3, fixing movement branched chain sleeve 4), first linear actuator the IV, second straight line (it is solid that moving platform nose circle pedestal the 5, the 3rd fixes Hooke's hinge pedestal the 6, the 4th for driver the V, the 3rd linear actuator VI and moving platform Determining Hooke's hinge pedestal 7, the 5th fixes Hooke's hinge pedestal 8);The first of fixed platform is fixed Hooke's hinge pedestal 2, second fixes Hooke Hinge pedestal 3 respectively with the 4th ball-type connecting shaft 17 on the first linear actuator IV and the 5th ball on the 3rd linear actuator VI Type connecting shaft 3 is connected by revolute R9, the movement branched chain sleeve 4 in fixed platform and the second rotary tiger on linear actuator Gram hinge pedestal 13 by linear motion secondary P3 connection.On moving platform the 3rd fixes Hooke's hinge pedestal the 6, the 4th and fixes Hooke's hinge base Seat 7, the 5th fix Hooke's hinge pedestal 8 respectively with first ball-type connecting shaft the 9, second linear drives on the first linear actuator IV The 3rd ball-type connecting shaft 11 on the second ball-type connecting shaft the 10, the 3rd linear actuator VI on device V by revolute R5, R10, R7 connect.
See Fig. 3 .2, described fixed platform by fixed platform circle end cap base 1, first fix Hooke's hinge pedestal 2, Two fix Hooke's hinge pedestal 3 and fixing movement branched chain sleeve 4 forms;First fix Hooke's hinge pedestal 2, second fix Hooke's hinge base Seat 3 and fixing movement branched chain sleeve 4 are fixed on fixed platform circle end cap base 1.
Seeing Fig. 3 .3, it is solid that described moving platform is fixed Hooke's hinge pedestal the 6, the 4th by moving platform circle end cap base the 5, the 3rd Determine Hooke's hinge pedestal the 7, the 5th to fix Hooke's hinge pedestal 8 and form;3rd fixes Hooke's hinge pedestal the 6, the 4th fixes Hooke's hinge pedestal 7, the 5th fix Hooke's hinge pedestal 8 and be fixed on moving platform circle end cap base 5.
Seeing Fig. 3 .4, described first linear actuator IV and the second linear actuator VI are identical UPS side chains, straight line Driver IV comprises first ball-type connecting shaft the 9, the 4th ball-type connecting shaft the 17, first linear drives P1, the first movement branched chain sleeve 17, first rotate Hooke's hinge pedestal the 12, first revolute R1, the second revolute R2, the 5th revolute R9, the 6th revolute R6, 11st revolute R11;First linear motion secondary P1 upper and lower end connects the first movement branched chain sleeve the 15, the 11st rotation respectively Secondary R11, the second revolute pair R2 and the 4th ball-type connecting shaft 21 of the first movement branched chain sleeve 15 lower end are connected, the first linear drives 11st revolute pair R11 of secondary P1 upper end and first rotates Hooke's hinge pedestal 12 and is connected, and first rotates Hooke's hinge pedestal 12 upper end The 6th revolute pair R6 and the first ball-type connecting shaft 9 be connected.
Described second linear actuator VI is UPS side chain, and linear actuator VI comprises the 3rd ball-type connecting shaft the 11, the 5th ball-type even Spindle the 18, second linear drives P2, the second movement branched chain sleeve 16, the 3rd rotate Hooke's hinge pedestal 14, the 3rd revolute R3, the Four revolutes R4, the 7th revolute R7, the 8th revolute R8, the 12nd revolute R12;Second linear motion secondary P2 upper and lower end Connect the second movement branched chain sleeve the 16, the 12nd revolute R12, the 4th revolute pair of the second movement branched chain sleeve 16 lower end respectively R4 and the 5th ball-type connecting shaft 18 are connected, and the 12nd revolute pair R12 of the second linear drives secondary P2 upper end and the 3rd rotates Hooke Hinge pedestal 14 is connected, and the 8th revolute pair R8 and the 3rd ball-type connecting shaft 11 of the 3rd rotation Hooke's hinge pedestal 14 upper end are connected.
Described 3rd linear actuator V is PU side chain, and linear actuator V comprises the second ball-type connecting shaft the 10, the 3rd straight line and drives Dynamic P3, the second rotation Hooke's hinge pedestal the 13, the 9th revolute R9, the tenth revolute R10, the 13rd revolute R13;3rd straight line The 13rd revolute pair R13 and second driving secondary P3 upper end rotates Hooke's hinge pedestal 13 and is connected, and second rotates Hooke's hinge pedestal 13 Tenth revolute pair R10 and the second ball-type connecting shaft 10 of upper end are connected.
Seeing 4.1-4.3, the joint in parallel group operation principle of described imitative Serpentis search and rescue robot articulation mechanism is:
Seeing Fig. 4 .1, left figure is joint in parallel group original state;Middle graph is first linear actuator the IV, second straight line When driver the V, the 3rd linear actuator VI extends 20mm simultaneously, joint in parallel group carries out stretching motion;Right figure is the first straight line When driver the IV, second linear actuator the V, the 3rd linear actuator VI shrinks 20mm simultaneously, joint in parallel group carries out shrinking fortune Dynamic.
Seeing Fig. 4 .2, left figure is joint in parallel group original state;Middle graph is the first linear actuator the IV, the 3rd straight line Driver VI extends 20mm simultaneously, and when the second linear actuator V length keeps constant, joint in parallel group carries out motion of bowing;Right figure Being that the first linear actuator the IV, the 3rd linear actuator VI shrinks 20mm simultaneously, the second linear actuator V length keeps constant Time, joint in parallel group carries out facing upward motion.
Seeing Fig. 4 .3, left figure is joint in parallel group original state;Middle graph is first linear actuator the IV, second straight line Driver V length keeps constant, and when the 3rd linear actuator VI extends 20mm, joint in parallel group carries out left drift campaign;Right figure It is that the second linear actuator the V, the 3rd linear actuator VI length keeps constant, when the first linear actuator IV extends 20mm, and Connection joint group carries out right yawing rotation.
Seeing Fig. 4, each imitative Serpentis search and rescue robot articulation mechanism is by the imitative Serpentis search and rescue robot of the composition that joins end to end, first Individual imitative Serpentis search and rescue robot articulation mechanism outer end connects snakehead 25, and last imitative Serpentis search and rescue robot articulation mechanism outer end connects Ophiruid 26.

Claims (7)

1. imitate Serpentis search and rescue robot articulation mechanism, it is characterised in that: imitative Serpentis search and rescue robot articulation mechanism is by the first omni-directional wheel (I), joint group in parallel (II) and the second omni-directional wheel (III) be composed in series, the first omni-directional wheel (I) and the knot of the second omni-directional wheel (III) Structure is identical, the first omni-directional wheel (I), two wheel concentric fixed installations of the second omni-directional wheel (III), and rotates certain angle Degree, it is ensured that follower covers whole omni-directional wheel circumference, the 13rd revolute (R13) on two omni-directional wheel connecting shafts (24) is respectively It is connected with fixed platform and the traverser of joint in parallel group, the 13rd revolute (R13) is provided with electric rotating machine, by control The velocity of rotation of electric rotating machine processed controls the first omni-directional wheel (I) and the rotating speed of the second omni-directional wheel III;Joint group (II) in parallel is by solid Fixed platform, the first linear actuator (IV), the second linear actuator (V), the 3rd linear actuator (VI) and moving platform composition; Article three, first linear drives (P1) of linear actuator, the second linear drives secondary (P2), the upper installation of the 3rd linear drives secondary (P3) There is independent linear drive motor, by the control to three movement branched chain collapsing lengths, it is achieved joint in parallel group is flexible, pitching And driftage.
Imitative Serpentis search and rescue robot articulation mechanism the most according to claim 1, it is characterised in that: described fixed platform is by circle End cap base (1), movement branched chain sleeve (4), the first Hooke's hinge pedestal (2), the first Hooke's hinge pedestal (3) composition, movement branched chain Sleeve (4), the first Hooke's hinge pedestal (2), the first Hooke's hinge pedestal (3) are fixed together with circular end cap base 1 respectively.
Imitative Serpentis search and rescue robot articulation mechanism the most according to claim 1, it is characterised in that: described moving platform is by circle End cap base (5), the 3rd Hooke's hinge pedestal (6), the 4th Hooke's hinge pedestal (7), the 5th Hooke's hinge pedestal (8) composition, the 3rd tiger Gram hinge pedestal (6), the 4th Hooke's hinge pedestal (7), the 5th Hooke's hinge pedestal (8) are fixed on one with circular end cap base (5) respectively Rise.
Imitative Serpentis search and rescue robot articulation mechanism the most according to claim 1, it is characterised in that: the first linear actuator IV, 3rd linear actuator VI is identical UPS side chain, and the first linear actuator IV comprises the first ball-type connecting shaft (9), the 4th ball Type connecting shaft (17), the first linear drives (P1), the first movement branched chain sleeve (17), first rotate Hooke's hinge pedestal (12), the One revolute (R1), the second revolute (R2), the 5th revolute (R9), the 6th revolute (R6), the 11st revolute (R11); First secondary (P1) upper and lower end of linear motion connects the first movement branched chain sleeve (15), the 11st revolute (R11) respectively, and first Second revolute pair (R2) of movement branched chain sleeve (15) lower end is connected with the 4th ball-type connecting shaft (21), and the first linear drives is secondary (P1) the 11st revolute pair (R11) of upper end is connected with the first rotation Hooke's hinge pedestal (12), and first rotates Hooke's hinge pedestal (12) the 6th revolute pair (R6) of upper end is connected with the first ball-type connecting shaft (9).
Imitative Serpentis search and rescue robot articulation mechanism the most according to claim 1, it is characterised in that: the second linear actuator V is PU side chain, linear actuator V comprises the second ball-type connecting shaft (10), the 3rd linear drives (P3), the second rotation Hooke's hinge pedestal (13), the 9th revolute (R9), the tenth revolute (R10), the 13rd revolute (R13);Secondary (P3) upper end of 3rd linear drives The 13rd revolute pair (R13) rotate Hooke's hinge pedestal (13) with second and be connected, the second rotation Hooke's hinge pedestal (13) upper end Tenth revolute pair (R10) is connected with the second ball-type connecting shaft (10).
Imitative Serpentis search and rescue robot articulation mechanism the most according to claim 1, it is characterised in that: described omni-directional wheel first (I) Being propped up wheel by two omni-directional wheels and an omni-directional wheel connecting shaft (23) forms, each omni-directional wheel props up wheel by an omni-directional wheel wheel shaft (20) With eight follower (19) compositions, the 14th revolute (R14) on follower (19) is connected with omni-directional wheel wheel shaft.
Imitative Serpentis search and rescue robot articulation mechanism the most according to claim 1, it is characterised in that: each imitative She Soujiujiqirenguan Joint mechanism, by the imitative Serpentis search and rescue robot of the composition that joins end to end, connects Serpentis first imitative Serpentis search and rescue robot articulation mechanism outer end Head (25), last imitative Serpentis search and rescue robot articulation mechanism outer end connects ophiruid (26).
CN201610844729.6A 2016-09-22 2016-09-22 Imitative snake search and rescue robot articulation mechanism Active CN106272542B (en)

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Cited By (5)

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Publication number Priority date Publication date Assignee Title
CN107443415A (en) * 2017-09-18 2017-12-08 北京化工大学 A kind of modularization variation rigidity articulation mechanism of snake-shaped robot
FR3082136A1 (en) * 2018-06-12 2019-12-13 Safran Aircraft Engines MOBILE INSPECTION ROBOT OF A TURBOMACHINE
CN110900592A (en) * 2019-12-17 2020-03-24 北京化工大学 Reconfigurable redundant mechanical arm based on rope driving
CN114179066A (en) * 2022-02-16 2022-03-15 成都飞机工业(集团)有限责任公司 Snake-shaped robot and control method thereof
CN114179066B (en) * 2022-02-16 2022-06-14 成都飞机工业(集团)有限责任公司 Snake-shaped robot and control method thereof

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