CN111439321A - Parallel leg type hexapod robot device - Google Patents
Parallel leg type hexapod robot device Download PDFInfo
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- CN111439321A CN111439321A CN202010383940.9A CN202010383940A CN111439321A CN 111439321 A CN111439321 A CN 111439321A CN 202010383940 A CN202010383940 A CN 202010383940A CN 111439321 A CN111439321 A CN 111439321A
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- 241000238631 Hexapoda Species 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 claims description 10
- 230000001154 acute effect Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005021 gait Effects 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 1
- 241000239226 Scorpiones Species 0.000 description 1
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- 238000013473 artificial intelligence Methods 0.000 description 1
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- 238000010276 construction Methods 0.000 description 1
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention relates to a parallel-leg type hexapod robot device which mainly comprises a body and six identical parallel-legs, wherein the six parallel-legs are symmetrically distributed on two sides of the body and are connected with the body through bolts. Wherein, the six legs are composed of an upper platform, a lower platform and three branched chains connecting the upper platform and the lower platform. The branched chain I consists of two revolute pairs and a sliding pair, the revolute pair connected with the upper platform is vertically intersected with the adjacent revolute pair, and the sliding pair is vertical to the adjacent revolute pair; the branched chain II consists of two revolute pairs, a sliding pair and a ball pair, the revolute pair connected with the upper platform is vertically intersected with the adjacent revolute pair, and the sliding pair is vertical to the adjacent revolute pair; the branched chain III consists of three revolute pairs and a sliding pair, the revolute pair connected with the upper platform is vertically intersected with the adjacent revolute pair, and the two revolute pairs adjacent to the sliding pair are parallel to each other and are vertical to the sliding pair. The device has good structural stability, large bearing capacity and strong obstacle crossing capacity, and can realize the movement in different directions without turning.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a parallel-leg type hexapod robot device.
Background
The hexapod mobile robot is a legged mobile robot simulating a multi-pod animal motion mode, has rich gait and redundant limb structures, can realize non-contact obstacle avoidance, obstacle crossing and uneven ground motion by utilizing discrete ground support compared with the traditional wheeled and crawler-type mobile robot, can realize continuous motion on a small ground, and has strong adaptability and good motion stability to complex terrain and unpredictable environment change. The method has important application in the fields of military reconnaissance, rescue and relief, interstellar exploration, anti-terrorist blasting, archaeological exploration, hilly and mountain land operation and the like.
Since the 80 th century, many universities and scientific research institutes at home and abroad successively developed various hexapod robots with excellent performance, Genghis developed by the American Massachusetts institute of technology and Artificial Intelligence laboratory, Ariel, a hexapod Robot for shallow mine exploration, Robot II and Robot V developed by the American Kaiser Sichu university mechanical and aerospace engineering institute of Bionics Robot laboratory, Scorpion developed by the German Fraunhofer autonomous Intelligent System institute, Tarry II developed by the German Duyiburg university mechanical engineering institute, L EMUR I and L EMUR II developed by the American California university air jet propulsion laboratory, the robots are mainly series leg type walking mechanisms which have the defects of weak bearing capacity, complex realization and low motion precision, CN 108909873A adopts a parallel leg type structure, solves the defects, but has the defects of complex structure and is not convenient to control, and the four-leg type walking mechanism adopts the four-leg type walking mechanism, so that the fault-tolerant Robot is not developed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the parallel-connection leg type hexapod robot device which has the advantages of large bearing capacity, wide application range, good walking stability, strong obstacle crossing capacity, high system reliability, convenient control, strong fault tolerance and capability of realizing reversing without turning.
The technical scheme of the invention is as follows: the utility model provides a six sufficient robot devices of parallelly connected leg formula, includes body, walking leg one, walking leg two, walking leg three, walking leg four, walking leg five, walking leg six, its characterized in that: the six walking legs are the same in structure and symmetrically distributed on two sides of the body, and are parallel mechanisms which are composed of an upper platform, a lower platform and three branched chains for connecting the upper platform and the lower platform; the first branched chain consists of a first connecting rod, a first sliding pair, a second connecting rod, a first rotating pair and a second rotating pair, one end of the first connecting rod is fixedly connected with the lower platform, the other end of the first connecting rod is connected with one end of the second connecting rod through the first sliding pair, and the other end of the second connecting rod is connected with the upper platform through the first rotating pair and the second rotating pair; the branched chain II consists of a ball pair, a third connecting rod, a second moving pair, a fourth connecting rod, a third rotating pair and a fourth rotating pair, one end of the third connecting rod is connected with the lower platform through the ball pair, the other end of the third connecting rod is connected with one end of the fourth connecting rod through the second moving pair, and the other end of the fourth connecting rod is connected with the upper platform through the third rotating pair and the fourth rotating pair; the branched chain III consists of a fifth revolute pair, a fifth connecting rod, a third revolute pair, a sixth connecting rod, a sixth revolute pair and a seventh revolute pair, one end of the fifth connecting rod is connected with the lower platform through the fifth revolute pair, the other end of the fifth connecting rod is connected with one end of the sixth connecting rod through the third revolute pair, and the other end of the sixth connecting rod is connected with the upper platform through the sixth revolute pair and the seventh revolute pair; the ball pair and the revolute pair V are connected with the lower platform, and the lower leg is fixedly connected on the lower platform; and the second revolute pair, the fourth revolute pair and the seventh revolute pair are connected with the upper platform, and the upper platform is provided with a threaded hole for mounting the first bolt and the second bolt and is connected with the body through the first bolt and the second bolt.
Furthermore, the axes of the first revolute pair and the second revolute pair, the third revolute pair and the fourth revolute pair, and the sixth revolute pair and the seventh revolute pair are respectively vertical to each other, the axes of the fifth revolute pair and the sixth revolute pair are parallel to each other, and the axes of the first revolute pair, the second revolute pair and the third revolute pair, and the third revolute pair and the sixth revolute pair are respectively vertical to each other.
Furthermore, the rotation axes of the second rotating pair and the seventh rotating pair on the upper platform are parallel to each other and are perpendicular to the rotation axis of the fourth rotating pair; the guide rail of the first sliding pair is vertical to the plane of the lower platform; the upper platform is parallel to the lower platform at the initial assembly time.
Furthermore, the upper platform and the lower platform are both isosceles triangles; on the upper platform, a second revolute pair is installed at the vertex of the right angle of the isosceles triangle, and a fourth revolute pair and a seventh revolute pair are installed at two acute angles of the isosceles triangle; on the lower platform, a first connecting rod is fixedly connected to the vertex of a right angle of the isosceles triangle, and a fifth revolute pair and a ball pair are arranged at two acute angles of the isosceles triangle.
Furthermore, a first revolute pair and a second revolute pair, a third revolute pair and a fourth revolute pair, and a sixth revolute pair and a seventh revolute pair, which are perpendicular to each other on the axes of the six walking legs, can be replaced by a Hooke joint.
Further, the ball pair coupled to the lower platform may be replaced with three revolute pairs whose axes intersect at a point.
The invention has the advantages that: the device has the advantages of simple structure, good walking stability, large bearing capacity, strong obstacle crossing capability, capability of realizing walking all around without turning process, flexible movement, partial movement input-output decoupling property, simple control, strong fault tolerance capability and the like.
In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The invention will be further explained with reference to the following figures.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic diagram of the construction of the parallel legs of the present invention.
Fig. 3 is a partially enlarged schematic view of the parallel leg configuration of the present invention.
Fig. 4 is a schematic view of the forward motion of the torso of the present invention at a point just prior to landing the ground on the first set of legs.
Fig. 5 is a schematic view of the body of the present invention moving forward the second set of legs at a point just prior to landing.
Fig. 6 is a schematic view of the body of the present invention moving to the left with a second set of legs about to land.
Fig. 7 is a schematic view of the body of the present invention moving left the first set of legs at a point immediately prior to landing.
Reference numerals: the walking leg comprises a body 0, a first walking leg I, a second walking leg II, a third walking leg III, a fourth walking leg IV, a fifth walking leg V and a sixth walking leg VI;
branched chain one C1, branched chain two C2, branched chain three C3; the lower leg comprises a lower leg 1, a lower platform 2, a first connecting rod 3, a first sliding pair P1, a third connecting rod 4, a second connecting rod 5, a first sliding pair R1, a second sliding pair R2, a ball pair S, a second sliding pair P2, a fourth connecting rod 6, a third sliding pair R3, a fourth sliding pair R4, a fifth sliding pair R5, a sixth sliding pair R6, a seventh sliding pair R7, a third sliding pair P3, an upper platform 7, a first bolt 8, a second bolt 9, a sixth connecting rod 10 and a fifth connecting rod 11.
Detailed Description
Specifically, the axes of the first revolute pair R1 and the second revolute pair R2, the third revolute pair R3 and the fourth revolute pair R4, the sixth revolute pair R6 and the seventh revolute pair R7 are perpendicular to each other, the axes of the fifth revolute pair R5 and the sixth revolute pair R6 are parallel to each other, and the axes of the first revolute pair P1 and the first revolute pair R1, the second revolute pair P2 and the third revolute pair R3, and the third revolute pair P3 and the sixth revolute pair R6 are perpendicular to each other.
Specifically, the second revolute pair R2 on the upper platform 7 is parallel to the revolute axis of the seventh revolute pair R7, and is perpendicular to the revolute axis of the fourth revolute pair R4; the guide rail of the first sliding pair P1 is vertical to the plane of the lower platform 2; at the initial assembly moment, the upper platform 7 is parallel to the lower platform 2.
Specifically, the upper platform 7 and the lower platform 2 are both isosceles triangles; on the upper platform 7, a second revolute pair R2 is installed at the vertex of the right angle of the isosceles triangle, and a fourth revolute pair R4 and a seventh revolute pair R7 are installed at two acute angles of the isosceles triangle; on the lower platform 2, a first connecting rod 3 is fixedly connected to the vertex of a right angle of the isosceles triangle, and a five-R5 revolute pair and a ball pair S are arranged at two acute angles of the isosceles triangle.
Specifically, on the first walking leg I, the second walking leg II, the third walking leg III, the fourth walking leg IV, the fifth walking leg V and the sixth walking leg VI, a first revolute pair R1 and a second revolute pair R2, a third revolute pair R3 and a fourth revolute pair R4, and a sixth revolute pair R6 and a seventh revolute pair R, which have mutually perpendicular axes, can be replaced by a Hooke hinge.
Specifically, the ball pairs S connected with the lower platform on the first walking leg I, the second walking leg II, the third walking leg III, the fourth walking leg IV, the fifth walking leg V and the sixth walking leg VI can be replaced by three revolute pairs with axes intersected at one point.
Embodiment 2, referring to fig. 1, 4 and 5, a parallel legged hexapod robot device capable of walking forward and backward stably, wherein the working principle of forward walking is described by a triangular gait: a first walking leg I, a third walking leg III and a fifth walking leg V are defined as a first group of legs, and a second walking leg II, a fourth walking leg IV and a sixth walking leg VI are defined as a second group of legs. In the initial state, six walking legs (I-VI) touch the ground simultaneously; when the first group of legs is lifted and strides forward, the second group of legs lands on the ground and pushes the body 0 to move forward; when the first group of legs just touch the ground after moving to a certain position, the second group of legs are lifted and step forward, and meanwhile, the first group of legs push the body 0 to move forward; when the second group of legs moves to a certain position, the second group of legs just touch the ground; ...; the cycle is carried out, so that the hexapod robot walks forwards. Fig. 4 is a schematic diagram of the moment when the second group of legs touch the ground to push the trunk 0 to move forward and the first group of legs swing to touch the ground. Fig. 5 is a schematic diagram of the moment when the first group of legs touch the ground to push the trunk 0 to move forward and the second group of legs swing to touch the ground.
It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A parallel leg type hexapod robot device comprises a body (0) and six walking legs (I-VI); the method is characterized in that: the six walking legs have the same structure and are symmetrically distributed on two sides of the body (0), and the six walking legs are parallel mechanisms and are composed of an upper platform (7), a lower platform (2) and three branched chains (C1-C3) connecting the upper platform and the lower platform; the branched chain I (C1) consists of a connecting rod I (3), a sliding pair I (P1), a connecting rod II (5), a revolute pair I (R1) and a revolute pair II (R2), one end of the connecting rod I (3) is fixedly connected with the lower platform (2), the other end of the connecting rod I (3) is connected with one end of the connecting rod II (5) through the sliding pair I (P1), and the other end of the connecting rod II (5) is connected with the upper platform (7) through the revolute pair I (R1) and the revolute pair II (R2); the branched chain II (C2) consists of a ball pair (S), a connecting rod III (4), a sliding pair II (P2), a connecting rod IV (6), a sliding pair III (R3) and a sliding pair IV (R4), one end of the connecting rod III (4) is connected with the lower platform (2) through the ball pair (S), the other end of the connecting rod III (4) is connected with one end of the connecting rod IV (6) through the sliding pair II (P2), and the other end of the connecting rod IV (6) is connected with the upper platform (7) through the sliding pair III (R3) and the sliding pair IV (R4); the branched chain III (C3) consists of a revolute pair V (R5), a connecting rod V (11), a revolute pair III (P3), a connecting rod VI (10), a revolute pair VI (R6) and a revolute pair VII (R7), one end of the connecting rod V (11) is connected with the lower platform (2) through the revolute pair V (R5), the other end of the connecting rod V (11) is connected with one end of the connecting rod VI (10) through the revolute pair III (P3), and the other end of the connecting rod VI (10) is connected with the upper platform (7) through the revolute pair VI (R6) and the revolute pair VII (R7); the ball pair (S) and the revolute pair five (R5) are connected with the lower platform (2), and the lower leg (1) is fixedly connected on the lower platform (2); and the second revolute pair (R2), the fourth revolute pair (R4) and the seventh revolute pair (R7) are connected with the upper platform (7), the upper platform (7) is provided with threaded holes for mounting the first bolt (8) and the second bolt (9), and the first bolt (8) and the second bolt (9) are connected with the body (0).
2. The parallel legged hexapod robotic device of claim 1, wherein: the axes of the first revolute pair (R1) and the second revolute pair (R2), the third revolute pair (R3) and the fourth revolute pair (R4), the sixth revolute pair (R6) and the seventh revolute pair (R7) are perpendicular to each other, the axes of the fifth revolute pair (R5) and the sixth revolute pair (R6) are parallel to each other, and the axes of the first revolute pair (P1) and the first revolute pair (R1), the second revolute pair (P2) and the third revolute pair (R3), and the third revolute pair (P3) and the sixth revolute pair (R6) are perpendicular to each other.
3. The parallel legged hexapod robotic device of claim 1, wherein: the second revolute pair (R2) on the upper platform (7) is parallel to the rotational axis of the seventh revolute pair (R7) and is perpendicular to the rotational axis of the fourth revolute pair (R4); the guide rail of the first sliding pair (P1) is vertical to the plane of the lower platform (2).
4. The parallel legged hexapod robotic device of claim 1, wherein: the upper platform (7) and the lower platform (2) are both isosceles triangles; on the upper platform (7), a second revolute pair (R2) is installed at the vertex of the right angle of the isosceles triangle, and a fourth revolute pair (R4) and a seventh revolute pair (R7) are installed at the two acute angles of the isosceles triangle; on the lower platform (2), a first connecting rod (3) is fixedly connected to the vertex of the right angle of the isosceles triangle, and a fifth revolute pair (R5) and a ball pair (S) are arranged at two acute angles of the isosceles triangle.
5. The parallel legged hexapod robotic device of claim 1, wherein: the axes of the six walking legs (I-VI) are mutually vertical to each other, namely a first revolute pair (R1) and a second revolute pair (R2), a third revolute pair (R3) and a fourth revolute pair (R4), and a sixth revolute pair (R6) and a seventh revolute pair (R7) or replaced by Hooke hinges.
6. The parallel legged hexapod robotic device of claim 1, wherein: the six walking legs (I-VI) are replaced by a ball pair (S) connected with the lower platform or three revolute pairs with axes intersecting at one point.
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| CN202010383940.9A CN111439321B (en) | 2020-05-08 | 2020-05-08 | Parallel leg type six-foot robot device |
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| CN202010383940.9A CN111439321B (en) | 2020-05-08 | 2020-05-08 | Parallel leg type six-foot robot device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112498515A (en) * | 2020-09-23 | 2021-03-16 | 北京交通大学 | Multi-foot carrying platform capable of walking passively |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941572A (en) * | 2012-11-12 | 2013-02-27 | 天津理工大学 | Spatial three-dimensional translation parallel mechanism with only lower pairs |
| CN103600347A (en) * | 2013-11-26 | 2014-02-26 | 燕山大学 | Asymmetric two-rotational one-translational three-degree-of-freedom parallel mechanism with two continuous rotating shafts |
| CN109774812A (en) * | 2019-01-14 | 2019-05-21 | 南昌大学 | There are two types of the multi-foot robot devices of motor pattern for a kind of tool |
| CN212373552U (en) * | 2020-05-08 | 2021-01-19 | 南昌大学 | Novel parallel leg type six-foot robot device |
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2020
- 2020-05-08 CN CN202010383940.9A patent/CN111439321B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941572A (en) * | 2012-11-12 | 2013-02-27 | 天津理工大学 | Spatial three-dimensional translation parallel mechanism with only lower pairs |
| CN103600347A (en) * | 2013-11-26 | 2014-02-26 | 燕山大学 | Asymmetric two-rotational one-translational three-degree-of-freedom parallel mechanism with two continuous rotating shafts |
| CN109774812A (en) * | 2019-01-14 | 2019-05-21 | 南昌大学 | There are two types of the multi-foot robot devices of motor pattern for a kind of tool |
| CN212373552U (en) * | 2020-05-08 | 2021-01-19 | 南昌大学 | Novel parallel leg type six-foot robot device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112498515A (en) * | 2020-09-23 | 2021-03-16 | 北京交通大学 | Multi-foot carrying platform capable of walking passively |
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