The invention discloses a multi-mode double-mechanical-arm wheel-foot robot and a control method thereof. The multi-mode double-mechanical-arm wheel-foot robot comprises a robot body, two legs symmetrically installed on the two sides of the robot body and two mechanical arms symmetrically installed at the front end of the robot body. Each leg part comprises a thigh part, a shank part, an auxiliary wheel, a driving wheel, a hub motor, a thigh driving motor, a shank driving motor and a transmission assembly; when the wheel-foot robot is in a wheel-foot type motion state, the legs abut against the ground through the driving wheels, and foot type walking is achieved; when the wheel-foot robot is in a four-wheel type motion state, the legs abut against the ground through the driving wheels and the auxiliary wheels, and wheel type walking is achieved. The robot can be switched between a wheel-foot robot and a four-wheel robot and between the wheel-foot robot and a multi-foot robot, the inertia of the foot ends is reduced, the movement speed can be increased, and the energy utilization rate is increased.

    本发明公开了一种多模态双机械臂轮足机器人及其控制方法,该机器人包括:机身、两个对称安装于机身两侧的腿部以及两个对称安装于机身前端的机械臂;每个所述腿部均包括:大腿部、小腿部、辅助轮、主动轮、轮毂电机、大腿驱动电机、小腿驱动电机及传动组件;当轮足机器人处于轮足式运动状态时,所述腿部通过主动轮抵触在地面上,实现足式行走;当轮足机器人处于四轮式运动状态时,所述腿部通过主动轮和辅助轮抵触在地面上,实现轮式行走。本发明能够实现机器人在轮足机器人和四轮机器人、轮足机器人和多足机器人的切换,不仅缩小了足端惯量,还能提升运动速度,提高能量的利用率。


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    Title :

    Multi-mode double-mechanical-arm wheel-foot robot and control method thereof


    Additional title:

    一种多模态双机械臂轮足机器人及其控制方法


    Contributors:
    SONG WENJIE (author) / LIU HAO (author) / ZHANG RUI (author) / LIU WEICHENG (author) / SUN SHUANGYUAN (author)

    Publication date :

    2023-09-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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