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Crawler leg compound movable robot based on differential mechanisms
Authors
吴镇炜
隋春平
韩建达
高英丽
Publication date
30 May 2012
Publisher
Abstract
本发明涉及一种基于差动机构的履腿复合式移动机器人,包括主箱体和四个履带轮,四个履带轮结构相同,内置差动机构,对称地分布在主箱体的两侧、前后两端,主箱体和四个履带轮具有前后、左右、上下三个方向的对称性;履带轮包括履带轮机构、差动机构和主轴;其中差动机构置于履带轮机构内部,与履带轮机构集成为一体,共同组成差动履带轮,并通过主轴与主箱体连接;差动机构包含一个输入和两个输出,其输入部分通过主轴与主箱体中的驱动单元相连,输出之一接至履带轮机构的驱动轮,输出之二接至履带轮机构的履带支撑机构。本发明充分利用差动机构运动分解和运动自动切换的功能,使摆腿翻转越障,操控简单、能耗低、重量轻,具有模块化特点以及较好的对称性
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Institutional Repository of Institute of Automation, CAS
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oai:ir.sia.cn/:173321/13764
Last time updated on 29/11/2016
Shenyang Institute of Automation,Chinese Academy Of Sciences
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/13764
Last time updated on 12/02/2018
Institutional Repository of Institute of Automation, CAS
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/14549
Last time updated on 29/11/2016
Shenyang Institute of Automation,Chinese Academy Of Sciences
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/14549
Last time updated on 12/02/2018