Six foot wheel leg type climbing biomimetic robot

• Main Authors: MA TINGTING, SONG QUANJUN, CAO HUIBIN, SUN YUPING, SUN YUXIANG, CAO PINGGUO, KAN HONGLIN, GE YUNJIAN
• Format: Patent
• Language: English
• Published: 13.05.2015
• Subjects: LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING

The invention relates to a six foot wheel leg type climbing biomimetic robot. The robot comprises a front trunk part, a middle trunk part, a rear trunk part, front wheel leg assemblies, middle wheel leg assemblies and rear wheel leg assemblies, wherein the front trunk part, the middle trunk part and the rear trunk part are connected in sequence; the front wheel leg assemblies, the middle wheel leg assemblies and the rear wheel leg assemblies are arranged on the two sides of the front trunk part, the two sides of the middle trunk part and the two sides of the rear trunk part respectively; the distance between the front trunk part and the middle trunk part and the distance between the rear trunk part and the middle trunk part are adjustable; the front wheel leg assemblies, the middle wheel leg assemblies and the rear wheel leg assemblies are driven by a first motor, a second motor and a third motor respectively, and the rigidity of wheel legs of the front wheel leg assemblies, the middle wheel leg assemblies and the rear wheel leg assemblies is adjustable; a battery pack supplies power to the first motor, the second motor and the third motor. From the technical scheme, it can be known that both the maximum spanning ditch width and the maximum climbing step barrier height of equipment can be changed by adjusting the inter-axis span and the wheel leg rigidity of the robot; on the premise of satisfying climbing usage requirements, the optimum motion parameters, for adapting to the environment, of the robot can be obtained, and therefore the error-tolerant rate of the robot in the climbing process is greatly increased.