The invention belongs to the technical field of robot collaborative carrying, and solves the problems that most mobile robots taking parallel mechanisms as leg mechanisms are relatively complex in gait during advancing, need more drives and are relatively poor in applicability. According to the 3-UPU hexapod robot for cooperatively carrying the long heavy objects and the gait planning method of the 3-UPU hexapod robot, a clamping piece is connected to the upper end of an upper platform through a rotating piece, a plurality of telescopic branch chains are evenly hinged to the periphery of the outer ring of the upper platform, and driving pieces for controlling the telescopic branch chains to act are arranged at the telescopic branch chains; a plurality of first connecting rods and second connecting rods are evenly and fixedly connected to the periphery of the middle platform and the periphery of the lower platform respectively, and the lower ends of every two adjacent telescopic branch chains are hinged to the lower end plates at the first connecting rods and the second connecting rods respectively. A 3-UPU parallel mechanism composed of the middle platform and the lower platform serves as a robot body of the hexapod robot, simple gaits can be generated with less drive, and forward movement is achieved by means of alternate dislocation of the two platforms.
本发明属于机器人协同搬运技术领域,解决了大多数将并联机构作为腿机构的移动机器人,行进中步态较为复杂且所需的驱动较多,适用性相对较差的问题。提供了一种协同搬运长重物的3‑UPU六足机器人及其步态规划方法,夹持件通过旋转件连接在上平台的上端,上平台的外圈一周均匀铰接有多道伸缩支链,伸缩支链处具有控制其动作的驱动件,中平台和下平台的外周一圈分别均匀固连有多道第一连杆和第二连杆,相邻的两道伸缩支链的下端分别与一道第一连杆和一道第二连杆处的下端板铰接。本发明将中平台和下平台组成的3‑UPU并联机构作为六足机器人的机身可以以较少的驱动产生简单的步态,依靠两平台的交替错动实现向前移动。
3-UPU hexapod robot for cooperatively carrying long heavy objects and gait planning method of 3-UPU hexapod robot
协同搬运长重物的3-UPU六足机器人及其步态规划方法
2023-07-21
Patent
Electronic Resource
Chinese
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