The invention discloses a four-bar mechanism type hexapod robot suitable for the lunar environment and a walking method thereof. The robot comprises a robot body, all mechanical legs are the same in structure, and each mechanical leg comprises a first joint connected with the robot body and a first steering engine installed on the robot body; the opening end of the U-shaped supporting frame is connected with a driving shaft of the first steering engine, and the first steering engine drives the U-shaped supporting frame to transversely swing in the horizontal direction; the second joint is connected with the first joint and comprises a second joint upper arm, one end of the second joint upper arm is hinged to the upper portion of the closed end of the U-shaped supporting frame, and the other end of the second joint upper arm is hinged to the toe part; the second steering engine is mounted on the U-shaped supporting frame; one end of the second joint lower arm is connected with a second steering engine driving shaft on the U-shaped supporting frame, and the other end of the second joint lower arm is hinged to the toe part; the second steering engine drives the toe part to move in the vertical direction. The robot can adapt to the situation that lunar soil on the moon is soft, the bearing capacity of the robot is improved, and walking is more stable.

    本发明公开了一种适用月球环境的四杆机构式六足机器人及其行走方法,机器人包括机体,每条机械腿的结构相同,均包括第一关节,与所述机体连接,包括一号舵机,安装在所述机体上;U形支撑架,其开口端与所述一号舵机驱动轴连接,一号舵机驱动所述U形支撑架沿水平方向横摆;第二关节,与所述第一关节连接,包括第二关节上臂,一端和所述U形支撑架封闭端上部铰接,另一端与足尖部部铰接;二号舵机,安装在所述U形支撑架上;第二关节下臂,一端和所述U形支撑架上的二号舵机驱动轴连接,另一端和足尖部铰接;二号舵机驱动所述足尖部在竖直方向的移动。该机器人能够适应月球月壤松软的情况,使机器人承载能力加大,行走更稳定。


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    Title :

    Four-bar mechanism type hexapod robot suitable for lunar environment and walking method of four-bar mechanism type hexapod robot


    Additional title:

    一种适用月球环境的四杆机构式六足机器人及其行走方法


    Contributors:
    GUO YINGQING (author) / SHU BINMING (author) / XU ZHAODONG (author) / LUO WENHAO (author) / WANG YINA (author) / XU QIANG (author)

    Publication date :

    2024-02-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B64G Raumfahrt , COSMONAUTICS



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