CN107933732A - Rolling robot based on parallel institution - Google Patents
Rolling robot based on parallel institution Download PDFInfo
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- CN107933732A CN107933732A CN201711314485.1A CN201711314485A CN107933732A CN 107933732 A CN107933732 A CN 107933732A CN 201711314485 A CN201711314485 A CN 201711314485A CN 107933732 A CN107933732 A CN 107933732A
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- 238000005096 rolling process Methods 0.000 title claims abstract description 24
- 230000005484 gravity Effects 0.000 claims abstract description 38
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 230000008859 change Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Rolling robot based on parallel institution, mainly includes polygon gravity center adjuster, band brake apparatus, parallel units module, wheel hub motor and angle measurement unit.Wheel hub motor is equipped between the moving platform group of polygon gravity center adjuster, the V of band brake apparatus stops to be connected with the formation of the mounting post wherein on the single u-shaped bar revolute pair of polygon gravity center adjuster.Parallel units module is equipped with the outer surface of each faceted pebble of polygon gravity center adjuster.Angle measurement unit is equipped with a moving platform center of gravity center adjuster.Mechanical structure of the present invention is simply efficient, and feasibility is high, is with a wide range of applications in fields such as research, amusement, detections.
Description
Technical field
The present invention devises a kind of rolling robot based on parallel institution, is related to two class parallel institutions and band-type brake dress
The application put, robot rolls forward is realized by centre-of gravity shift and the conservation of momentum.
Background technology
Rolling robot is mainly used in the fields such as research, amusement, detection, is to be different from wheeled, legged type robot one
Kind realizes the novel robot of walking by centre of gravity adjustment.Current typical rolling robot largely uses spherical structure, i.e.,
Robot exterior contour is spherical for one, by the position of motor change movable mass block in ball to change the position of barycenter, most
Realize eventually and roll and turn.Such robot and ground cannot change for point contact and shape according to road conditions, though movement is flexible,
Control to direction is more difficult, and pavement quality walks it and has a great influence, it is difficult to leaping over obstacles.
The rolling robot of wheel shape and ground contact for line, can make up the deficiency of ball shape robot to a certain degree.It is Chinese special
Sharp CN200520022908.9 discloses a kind of wheel shape rolling robot based on four-bar linkage, passes through itself parallel four side
The deformation of shape and mechanism complete rolling in the motional inertia of itself rod piece and advance.Chinese patent CN201210127096 discloses one
The robot that kind includes a connecting rod, two independent class wheel hexagon mechanisms form, by varying a shared vertex
Three parallelogram interior angles change, change the shape of each class wheel hexagon mechanism, realize deformation and roll.
Above-mentioned wheel shape rolling robot is mainly planar linkage mechanism, and there are cornering difficulties, bearing capacity be not strong, type of drive is single etc.
Shortcoming, is unfavorable for maximization application.
Space parallel mechanism usually has that the free degree is flexible, rigidity is big, and bearing capacity is strong, and dynamic response is good, simple in structure
The advantages that.Document《Hydraulic-driven scales the parallel rolling robot of side chain》(mechanical engineering journal, 2015,51 (19):28-
39) a kind of rolling robot based on using classical 3-RPS parallel institutions is described, is made in design using planar zooming side chain
It is magnification enlarger to obtain large deformation ability and realize upset, but rolling effect unobvious.
The content of the invention
The object of the present invention is to provide a kind of rigidity it is big, can turn, rolling effect is obvious, road conditions are adaptable and has more
The rolling robot based on parallel institution of kind drive pattern.
The invention mainly comprises polygon gravity center adjuster, band brake apparatus, parallel units module, wheel hub motor and angle
Measuring device.
Wherein, be equipped with wheel hub motor between the moving platform group of polygon gravity center adjuster, the V of band brake apparatus stop with it is polygon
The mounting post wherein on a single u-shaped bar of shape gravity center adjuster forms revolute pair connection.In polygon gravity center adjuster
The outer surface of each faceted pebble is equipped with parallel units module.Angle is equipped with a moving platform center of polygon gravity center adjuster
Measuring device.
Polygon gravity center adjuster mainly includes：Polygonal frame, base, corner fittings, double output shaft steering engine, drive shaft
A, drive link, follower link, moving platform, U-shaped bar, fixed link, camera, master control control panel and battery A.Polygonal frame by
6th, 9 or 12 hollow faceted pebble compositions, the installation of other parts is easy in inner space while making robot easy to roll.
The junction in adjacent polygonal frame face is fixedly connected with corner fittings, to increase the rigidity of polygonal frame.Set on each faceted pebble
There are some through holes.Base and double output shaft steering engine are installed in polygonal frame arbitrarily into 120 degree of cloth by the through hole on faceted pebble
On the inner wall for the three hollow faceted pebbles put, its axis is parallel with polygonal frame crest line and on faceted pebble middle vertical plane.Two drives
Moving axis A is corresponded to and two respectively with two drive shafts of double output shaft steering engine by flanged joint, one end of two drive links respectively
Root drive shaft A is fixedly connected, and drive shaft A can realize rotation relative to base installing hole, realizes the revolution driving to drive link.
The other end of two drive links forms revolute pair by one end of axis pin A and follower link respectively and connects, axis pin A axis with it is double
The output shaft axis of output shaft steering engine is parallel, and drive link is fixed with axis pin A by interference fit.Moving platform group is by two
Moving platform forms, and two moving platforms are identical with the connection mode of follower link, U-shaped bar.Two moving platforms respectively by axis pin B with
The other end of corresponding follower link is connected, and forms revolute pair, and the axis of axis pin B is put down with the output shaft axis of double output shaft steering engine
OK, moving platform is fixed with axis pin B by interference fit.3 fixed links, the side of every fixed link are equipped with moving platform
Equipped with through hole, the side of two openends of U-shaped bar is equipped with through hole, U-shaped bar and two moving platforms and realizes fixed connect using the through hole
Tap into and fix two moving platforms, add system strength, wherein through hole is equipped with two openends of a single u-shaped bar, and
Interference connects mounting post in through hole.Polygonal frame, drive link, follower link, moving platform, U-shaped bar composition one have
The plane-parallel type 3-RRR mechanisms of two one-movement-freedom-degrees and a rotational freedom.Camera is fixed therein a moving platform
Center, angle measurement unit are fixed on another moving platform center, and camera and angle measurement unit are symmetric.Master control control
Making sheet and battery A are fixed on the inner wall of polygonal frame.
Wheel hub motor is equipped between two moving platforms of moving platform group, center and the wheel hub motor of two moving platforms are installed
Axis is formed a fixed connection by interference fit, and wheel hub motor can do rotary motion with respect to the line of centres of two moving platforms.
Band brake apparatus limits the rotary motion of wheel hub motor, and band brake apparatus is mainly stopped by V, electromagnet and braking rope
Composition.Two movable ends that V stops are connected by braking rope with telescoping electromagnetic ferropexy.
Parallel units module is mainly by unit module fixed platform, unit module moving platform, steering engine A, steering engine B, steering engine C, control
Making sheet, battery B, ring flange, branch bar A and branch bar B compositions.The outer wall of unit module fixed platform is fixed on polygon center of gravity tune
The outer surface of each faceted pebble of engagement positions, is fixedly connected with steering engine A, steering engine C, universal on the inside of two unit module fixed platform A
Section, control panel and battery B, are fixed with steering engine B, steering engine A, steering engine B and steering engine C pass through respectively in the inner wall of unit module moving platform
Ring flange is connected with one end of corresponding branch bar A, and the other end of branch bar A forms revolute pair with one end of branch bar B and is connected.
The other end of branch bar B corresponding with steering engine A, steering engine C is fixed on the inner wall of unit module moving platform by universal joint.With rudder
The other end of the corresponding branch bar B of machine B is fixed on by universal joint on the inner wall of unit module fixed platform.
Angle measurement unit is made of absolute value encoder, mounting flange and gravity block, and absolute value encoder passes through installation
Flange is fixedly connected on one of moving platform, symmetrical with the camera on another moving platform, in absolute value
Gravity block is connected in the shaft of encoder and drives its revolution.
In the use of the present invention, two moving platforms can be realized and are synchronized with the movement under the driving of double output shaft steering engine, pass through tune
Section moving platform one-movement-freedom-degree makes polygon gravity center adjuster centroid motion so as to form turning torque, Jin Ershi to supporting point
The first existing roll drive.Rotational freedom possessed by moving platform can realize the first-class equipment of shooting to being connected on moving platform
Carry out angular adjustment.Polygon gravity center adjuster central space is made full use of, wheel hub motor can connect relative to moving platform center
Line does rotary motion；Band brake apparatus is set to limit the rotary motion of wheel hub motor on the U-shaped bar for connecting two moving platforms
System, the brake lining that the stretching motion control V of electromagnet stops unclamp, are close to the wheel hub of wheel hub motor, realize automatically controlling for brake.When
When wheel hub motor is relative to moving platform revolution at a high speed, band brake apparatus makes wheel hub electric under the action of telescoping electromagnetic iron by frictional force
Machine moment stops, and according to angular momentum conservation law, robot will integrally be carried forward rolling, realize second of roll drive.It is more
The movement of the vertical axis of side shape frame crest line, robot will become trapezoidal prism, and robot can be made to realize turning motion；It is more
The polygonal frame faceted pebble of the movement of the parallel axis of side shape frame crest line, parallel units module fixed platform and its connection will be with ground
At an angle, i.e., robot barycenter finally realizes the third rolling beyond the surface of the moving platform of the parallel units module in face
Driving.Parallel units module one-movement-freedom-degree can change two bottom distances between plates of unit module, so as to change wheel
The diameter of son so that different rolling speeds is realized under identical velocity of rotation, while can also be ensured constant in height of center of mass
The road surface of bumps is adapted at the same time.Rolling robot control mode uses each unit module independent control, passes through master control control panel
Independent single control panel is controlled.Master control control panel sends control instruction according to robot self-condition and gives parallel units mould
Block, in order to judge the parallel units module currently contacted with ground, the center on the moving platform of gravity center adjuster is consolidated
Dingan County fills angle measurement unit.
Compared with prior art, the present invention mechanical structure is simply efficient, feasibility is high, in fields such as research, amusement, detections
It is with a wide range of applications.
Brief description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the rolling robot based on parallel institution；
Fig. 2 is the three-dimensional simplified schematic diagram of two turn of one shift three degrees of freedom parallel units module；
Fig. 3 is the three-dimensional simplified schematic diagram of polygon gravity center adjuster；
Fig. 4 is the three-dimensional simplified schematic diagram of wheel hub motor and band brake apparatus；
Fig. 5 angle measurement unit sectional views；
Fig. 6 parallel units block motion process schematics.
In figure, 1- hexagonal-shaped frames, 2- drive links, 3- follower links, 4-U types bar, 5- battery A, 6- double output shaft rudders
Machine, 7- moving platforms, 8- wheel hub motors, 9- unit modules fixed platform, 10- steering engine A, 11- control panel, 12- universal joints, 13- units
Module moving platform, 14- ring flanges, 15- steering engine B, 16- steering engine C, 17- base, 18- main switchboards, 19-V brakes, 20- electromagnet,
21- braking ropes, 22- absolute value encoders, 23- mounting flanges, 24- battery B, 25- corner fittings, 26- drive shafts A, 27- fixed link,
28- branch bar A, 29- branch bars B, 30- gravity block, 31- cameras.
Embodiment
See in figure that the invention mainly comprises polygon gravity center adjuster, band-type brake in the signal of the invention of Fig. 1 to Fig. 6
Device, parallel units module, wheel hub motor and angle measurement unit.
Wheel hub motor is equipped between the moving platform group of polygon gravity center adjuster, the V of band brake apparatus stops and polygon weight
The mounting post wherein on a single u-shaped bar of heart adjusting apparatus forms revolute pair connection.In each of polygon gravity center adjuster
The outer surface of faceted pebble is equipped with parallel units module.Angular surveying is equipped with a moving platform center of polygon gravity center adjuster
Device.
Polygon gravity center adjuster mainly includes：Polygonal frame 1, base 17, corner fittings 25, double output shaft steering engine 6,
Drive shaft A26, drive link 2, follower link 3, moving platform 7, U-shaped bar 4, fixed link 27, camera 31, main switchboard 18 and electricity
Pond A.Polygonal frame 1 is made of 6,9 or 12 hollow faceted pebbles, it is easy in inner space while making robot easy to roll
The installation of his parts.Corner fittings 25 is fixedly connected with the junction in adjacent polygonal frame face, to increase polygonal frame
Rigidity.Some through holes are equipped with each faceted pebble.Base 17 by the through hole on faceted pebble be installed on polygonal frame in arbitrarily into
120 degree arrangement three hollow faceted pebbles inner wall on, be fixed on the inner wall center line parallel with polygonal frame crest line two
Side, base are equipped with mounting hole, and installation axially bored line is parallel with polygonal frame crest line；Arbitrarily into 120 degree of cloth in polygonal frame
Double output shaft steering engine 6, the axis and polygon of double output shaft steering engine are fixedly connected with the inner wall center for the three hollow faceted pebbles put
Frame crest line is parallel and on faceted pebble middle vertical plane.Two drive shaft A26 pass through with two drive shafts of double output shaft steering engine 6 respectively
Flanged joint, correspondence is fixedly connected with two drive shaft A respectively for one end of two drive links 2, and drive shaft A is relative to base 17
Mounting hole can realize rotation, realize the revolution driving to drive link.The other end of two drive links passes through axis pin A respectively
Revolute pair is formed with one end of follower link 3 to be connected, axis pin A axis are parallel with the output shaft axis of double output shaft steering engine, driving
Connecting rod is fixed with axis pin A by interference fit.Moving platform group is made of two moving platforms, two moving platforms 7 and driven company
Bar, the connection mode of U-shaped bar 4 are identical.Two moving platforms are connected by axis pin B with the other end of corresponding follower link respectively,
Revolute pair is formed, the axis of axis pin B is parallel with the output shaft axis of double output shaft steering engine, and moving platform is matched somebody with somebody with axis pin B by interference
Conjunction is fixed.3 fixed links 27 are equipped with moving platform, the side of every fixed link is equipped with through hole, two openings of U-shaped bar
The side at end is equipped with through hole, and U-shaped bar achieves a fixed connection using the through hole with two moving platforms and then fixes two moving platforms, increases
Add system strength, wherein through hole is equipped with two openends of a single u-shaped bar, and interference connects mounting post in through hole.It is more
Side shape frame, drive link, follower link, moving platform, U-shaped bar, which form one, has two one-movement-freedom-degrees and a rotation certainly
By the plane-parallel type 3-RRR mechanisms spent.Camera is fixed therein a moving platform center, and angle measurement unit is fixed on another
A moving platform center, camera and angle measurement unit are symmetric.Master control control panel 18 and battery A5 are fixed on polygon
On the inner wall of frame.
Wheel hub motor 8 is equipped between two moving platforms of moving platform group, center and the wheel hub motor of two moving platforms are pacified
Dress axis is formed a fixed connection by interference fit, and wheel hub motor can do rotary motion with respect to the line of centres of two moving platforms.
Band brake apparatus limits the rotary motion of wheel hub motor, and band brake apparatus mainly by V brakes 19, electromagnet 20 and is stopped
Car rope 21 forms.Two movable ends that V stops are connected by braking rope with telescoping electromagnetic ferropexy.
Parallel units module is mainly by unit module fixed platform, unit module moving platform, steering engine A, steering engine B, steering engine C, control
Making sheet, battery B, ring flange, branch bar A and branch bar B compositions.The outer wall of unit module fixed platform 9 is fixed on polygon center of gravity
The outer surface of each faceted pebble of adjusting apparatus, steering engine A10, steering engine are fixedly connected with the inside of two unit module fixed platform A
C16, universal joint 12, control panel 11 and battery 24, steering engine B15, steering engine A, steering engine B are fixed with the inner wall of unit module moving platform
It is connected respectively by ring flange 14 with one end of corresponding branch bar A with steering engine C16, the other end and branch bar of branch bar A28
One end of B29 forms revolute pair connection.The other end of branch bar B corresponding with steering engine A, steering engine C is fixed on list by universal joint
On the inner wall of element module moving platform.The other end of branch bar B corresponding with steering engine B is fixed on unit module by universal joint and allocates
On the inner wall of platform.
Angle measurement unit is made of absolute value encoder 22, mounting flange 23 and gravity block 30, and absolute value encoder leads to
Mounting flange is crossed to be fixedly connected on one of moving platform, it is symmetrical with the camera on another moving platform,
Gravity block is connected in the shaft of absolute value encoder and drives its revolution.
Claims (4)
1. the rolling robot based on parallel institution, mainly includes polygon gravity center adjuster, band brake apparatus, parallel units mould
Block, wheel hub motor and angle measurement unit, it is characterised in that：Wheel hub is equipped between the moving platform group of polygon gravity center adjuster
Motor, the V of band brake apparatus stops forms revolute pair company with the mounting post wherein on a single u-shaped bar of polygon gravity center adjuster
Connect, parallel units module is equipped with the outer surface of each faceted pebble of polygon gravity center adjuster, the one of gravity center adjuster
A moving platform center is equipped with angle measurement unit, and wheel hub motor is equipped between two moving platforms of moving platform group, and two dynamic flat
The center of platform and wheel hub motor installation axle are formed a fixed connection by interference fit, and wheel hub motor can be in respect to two moving platforms
Heart line does rotary motion, and band brake apparatus limits the rotary motion of wheel hub motor, and band brake apparatus is mainly stopped by V, electromagnetism
Iron and braking rope composition, two movable ends that V stops are connected by braking rope with telescoping electromagnetic ferropexy, and parallel units module is main
By unit module fixed platform, unit module moving platform, steering engine A, steering engine B, steering engine C, control panel, battery B, ring flange, branch bar A
Formed with branch bar B.
2. according to the rolling robot based on parallel institution described in claim 1, it is characterised in that：Polygon centre of gravity adjustment
Device mainly includes：It is polygonal frame, base, corner fittings, double output shaft steering engine, drive shaft A, drive link, follower link, dynamic
Platform, U-shaped bar, fixed link, camera, master control control panel and battery A, polygonal frame is by 6,9 or 12 hollow faceted pebble groups
Into the installation of other parts is easy in inner space while making robot easy to roll, in adjacent polygonal frame face
Junction is fixedly connected with corner fittings, and to increase the rigidity of polygonal frame, through hole, base and double output shaft are equipped with each faceted pebble
Steering engine by the through hole on faceted pebble be installed on polygonal frame in arbitrarily into 120 degree arrange three hollow faceted pebbles inner wall on,
Its axis is parallel with polygonal frame crest line and on faceted pebble middle vertical plane.Two drive shaft A respectively with double output shaft steering engine
Two drive shafts are by flanged joint, and correspondence is fixedly connected with two drive shaft A respectively for one end of two drive links, drive shaft A
Rotation can be realized relative to base installing hole, and the other end of two drive links passes through axis pin A and one end of follower link respectively
Revolute pair connection is formed, axis pin A axis are parallel with the output shaft axis of double output shaft steering engine, and moving platform group is by two moving platform groups
Into, two moving platforms are identical with the connection mode of follower link, U-shaped bar, two moving platforms respectively by axis pin B with it is corresponding from
The other end of dynamic connecting rod is connected, and forms revolute pair, and the axis of axis pin B is parallel with the output shaft axis of double output shaft steering engine, dynamic
Platform is equipped with 3 fixed links, and the side of every fixed link is equipped with through hole, and the side of two openends of U-shaped bar is equipped with through hole,
U-shaped bar achieves a fixed connection using the through hole with two moving platforms and then fixes two moving platforms, adds system strength, wherein
Be equipped with through hole at two openends of one single u-shaped bar, and interference connects mounting post in through hole, polygonal frame, drive link,
Follower link, moving platform, U-shaped bar form a plane-parallel type 3- with two one-movement-freedom-degrees and a rotational freedom
RRR mechanisms, camera are fixed therein a moving platform center, and angle measurement unit is fixed on another moving platform center, takes the photograph
As head and angle measurement unit are symmetric, master control control panel and battery A are fixed on the inner wall of polygonal frame.
3. the rolling robot according to claim 1 based on parallel institution, it is characterised in that：Master control control panel and battery
A is fixed on the inner wall of polygonal frame, and angle measurement unit is made of absolute value encoder, mounting flange and gravity block, absolutely
Value encoder is fixedly connected on one of moving platform by mounting flange, with the camera on another moving platform
Symmetrical, connection gravity block drives its revolution in the shaft of absolute value encoder.
4. the rolling robot according to claim 1 based on parallel institution, it is characterised in that：Unit module fixed platform
Outer wall is fixed on the outer surface of each faceted pebble of polygon gravity center adjuster, consolidates in the inner side of two unit module fixed platform A
Surely steering engine A, steering engine C, universal joint, control panel and battery B are connected, steering engine B, steering engine are fixed with the inner wall of unit module moving platform
A, steering engine B and steering engine C is connected by ring flange with one end of corresponding branch bar A respectively, the other end and branch bar of branch bar A
One end of B forms revolute pair connection, and the other end of branch bar B corresponding with steering engine A, steering engine C is fixed on unit by universal joint
On the inner wall of module moving platform, the other end of branch bar B corresponding with steering engine B is fixed on unit module fixed platform by universal joint
Inner wall on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711314485.1A CN107933732A (en) | 2017-12-12 | 2017-12-12 | Rolling robot based on parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711314485.1A CN107933732A (en) | 2017-12-12 | 2017-12-12 | Rolling robot based on parallel institution |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107933732A true CN107933732A (en) | 2018-04-20 |
Family
ID=61945631
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711314485.1A Pending CN107933732A (en) | 2017-12-12 | 2017-12-12 | Rolling robot based on parallel institution |
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| Country | Link |
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| CN (1) | CN107933732A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178134A (en) * | 2018-08-16 | 2019-01-11 | 东莞理工学院 | A kind of multi-foot robot for realizing all-around mobile and obstacle detouring |
| CN111137464A (en) * | 2019-12-16 | 2020-05-12 | 北京大学 | Environment-friendly robot |
| CN111388093A (en) * | 2020-02-19 | 2020-07-10 | 哈尔滨工业大学 | Robot based on cooperative joint motor and control method thereof |
| CN114029930A (en) * | 2021-11-09 | 2022-02-11 | 绍兴文理学院 | 6-rod curved rod tensioning integral movable structure |
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| CN106584509A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Parallel robot original point calibration method |
| CN207550350U (en) * | 2017-12-12 | 2018-06-29 | 燕山大学 | Rolling robot based on parallel institution |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178134A (en) * | 2018-08-16 | 2019-01-11 | 东莞理工学院 | A kind of multi-foot robot for realizing all-around mobile and obstacle detouring |
| CN111137464A (en) * | 2019-12-16 | 2020-05-12 | 北京大学 | Environment-friendly robot |
| CN111388093A (en) * | 2020-02-19 | 2020-07-10 | 哈尔滨工业大学 | Robot based on cooperative joint motor and control method thereof |
| CN114029930A (en) * | 2021-11-09 | 2022-02-11 | 绍兴文理学院 | 6-rod curved rod tensioning integral movable structure |
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