Single-power steerable mobile robot based on Bricard mechanism
Single-power steerable mobile robot based on Bricard mechanism
- Neue Suche nach: LIU CHAO
- Neue Suche nach: WANG HAIBO
- Neue Suche nach: DONG YUEHAI
- Neue Suche nach: LIU CHAO
- Neue Suche nach: WANG HAIBO
- Neue Suche nach: DONG YUEHAI
The invention relates to the field of mobile robots, in particular to a single-power steerable mobile robot based on a Bricard mechanism, which is based on Bricard six-bar mechanisms and is characterized in that the two six-bar mechanisms are arranged side by side; the robot is composed of a double-shaft motor (1), a first driving rod (2), a first crawling rod (3), a second crawling rod (4), a first auxiliary rod (5), a first connecting rod (6), a second connecting rod (7), a second auxiliary rod (8), a fourth crawling rod (9), a third crawling rod (10), a second driving rod (11) and a connecting frame (12). The function that the crawling robot moves back and forth in a single track is achieved through forward and reverse rotation of the driving motor. The function that the crawling robot walks in different tracks is achieved by instantaneously changing the rotating speed of the motor. The mechanism has the characteristics of flexible gait and stable crawling, and is suitable for exploration of dangerous terrains. Meanwhile, the mechanism is symmetrically arranged, simple in structure, convenient to machine and manufacture and capable of being applied to the education field.
本发明涉及移动机器人领域，具体一种基于Bricard机构的单动力可转向移动机器人，机器以Bricard六杆机构为基础，将两个六杆机构并排布置，由双轴电机(1)、第一驱动杆(2)、第一爬行杆(3)、第二爬行杆(4)、第一辅助杆(5)、第一连杆(6)、第二连杆(7)、第二辅助杆(8)、第四爬行杆(9)、第三爬行杆(10)、第二驱动杆(11)、连接架(12)组成。通过驱动电机的正反转实现爬行机器人以单轨迹前后移动的功能；通过瞬时改变电机的转速，实现爬行机器人以不同轨迹走行的功能。机构拥有步态灵活及爬行稳定的特性，适用于危险地形的勘测。同时，该机构对称布置，结构简易，便于加工及制造，可应用于教育领域。
Dokumentinformationen
Single-power steerable mobile robot based on Bricard mechanism
一种基于Bricard机构的单动力可转向移动机器人
2022-12-27
Patent
Elektronische Ressource
Chinesisch
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