The invention discloses a variable-configuration wheel-foot composite chassis and a control method thereof.The chassis comprises a chassis frame, a plurality of rotating shafts are sequentially and evenly installed in the chassis frame at intervals and arranged in parallel, the two ends of each rotating shaft penetrate out of the two sides of the chassis frame respectively, and installation frames are fixed to the portions, penetrating out of the chassis frame, of the rotating shafts; a wheel arm composite assembly is installed on the installation frame, and a variable configuration assembly enabling all the rotating shafts to rotate synchronously is further arranged in the chassis frame. A wheel drive mode, a low mass center gait and a conventional gait configuration can be flexibly switched, efficient movement of a wheel type chassis and complex terrain adaptability of a foot type robot are fused, and the cross-country performance of the chassis is remarkably improved; configuration conversion in the gait mode of the whole vehicle is achieved, the adaptive capacity of the whole vehicle to different terrains is further enhanced, and the passing performance of the whole vehicle is greatly enhanced.

    本发明公开了一种变构型轮足复合式底盘及其控制方法,底盘包括底盘框架,底盘框架内依次均匀间隔安装有多根转轴,多根转轴相互平行设置,转轴的两端分别从底盘框架的两侧穿出,转轴从底盘框架的穿出部分上均固定有安装架,安装架上安装有轮臂复合总成,底盘框架内还设有使全部转轴同步转动的变构型总成。本发明能够灵活切换轮驱模式、低质心步态以及常规步态构型,融合了轮式底盘的高效移动与足式机器人的复杂地形适应性,显著提升了底盘的越野性能;实现了整车步态模式下的构型转换,进一步增强了整车对不同地形的适应能力,并大幅增强了其通过性能。


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    Title :

    Variable-configuration wheel-foot composite chassis and control method thereof


    Additional title:

    一种变构型轮足复合式底盘及其控制方法


    Contributors:
    LI HONGBIAO (author) / YU BIN (author) / FANG MINHANG (author) / LI JIANHANG (author) / LI LUHAO (author) / LI YONGLIANG (author) / ZHANG XIAO (author) / DU MIAOMIAO (author) / JIN XIN (author) / YUE YUNPENG (author)

    Publication date :

    2025-03-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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