Parallel metamorphic spherical robot with less degree of freedom

• Main Authors: YUE FANG, QIN JIANHUA, ZHOU LUJING, LIU ZHIWEI, HUANG PENG, LIU CHENGHAO, YANG XIAOYING
• Format: Patent
• Language: Chinese; English
• Published: 03.12.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides a parallel metamorphic spherical robot with less degree of freedom. The parallel metamorphic spherical robot comprises at least two spherical machines which are arranged in parallel. Each spherical machine comprises an in-ball driving mechanism and a flower ball, and the in-ball driving mechanisms are installed in the flower balls; each flower ball are of a magic flower ball structure, and an inter-ball connecting mechanism is installed on an outer connecting block on the outer side of each flower ball; every two adjacent spherical machines are connected through the inter-ball connecting mechanism; and the in-ball driving mechanism of each spherical machine comprises a lower pinion, a rod II, a large gear, a main shaft, an upper pinion, an upper sliding block, a rod I, an upper shaft, a steering engine, a lower shaft, a rod III and a lower sliding block. According to the parallel metamorphic spherical robot, robot scaling is achieved through a crank mechanism and gear transmission; robo