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Walking and climbing robot based on joint coupling hand wheel mechanism
Authors
刘玉旺
田恬
陈晨
雷应波
Publication date
29 June 2016
Publisher
Abstract
本发明涉及爬行机器人技术领域,具体地说是一种基于关节耦合手轮机构的行走攀爬机器人,包括可移动的机身和设置于机身两侧的肢臂,所述肢臂包括近肢节、中部肢节和末端肢节,末端肢节上设有夹持轮,机身内设有肢臂驱动电机和肢臂传动机构,近肢节内设有近肢节传动机构,且近肢节传动机构为锥齿轮传动机构,中部肢节内设有中部肢节传动机构,且中部肢节传动机构为连杆机构,两侧肢臂上的近肢节、中部肢节和末端肢节均通过肢臂驱动电机驱动摆动,用于传递转矩的肢臂传动机构、近肢节传动机构和中部肢节传动机构依次相连,机身下侧设有控制转向的前轮和驱动行走的后轮。本发明既能在地面上行走,又具有攀爬树干等柱状物体的功能,控制灵活精确
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 03/02/2019