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CN101664926A - Tetrahedral rolling robot with parallel mechanism - Google Patents

Tetrahedral rolling robot with parallel mechanism Download PDF

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Publication number
CN101664926A
CN101664926A CN200910093258A CN200910093258A CN101664926A CN 101664926 A CN101664926 A CN 101664926A CN 200910093258 A CN200910093258 A CN 200910093258A CN 200910093258 A CN200910093258 A CN 200910093258A CN 101664926 A CN101664926 A CN 101664926A
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China
Prior art keywords
connector
pulley
wire rope
chute
hole
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CN200910093258A
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Chinese (zh)
Inventor
毕树生
张利格
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Beihang University
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Beihang University
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Priority to CN200910093258A priority Critical patent/CN101664926A/en
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Abstract

本发明的一种具有并联机构的四面体翻滚机器人，是由六根伸缩臂和四个节点板组件构成，所述的每一个节点板组件由节点板和三个万向节组成，且三个万向节呈正三角形布局在节点板的底板面上。六根伸缩臂的结构相同，并采用绳驱动方式。每一个伸缩臂的两端分别连接在两个节点板组件的万向节上。四个节点板组件的结构相同，每一个节点板组件中的三个万向节分别与三个伸缩臂的一端连接。本发明机器人在驱动方式上通过线绳、线轮、滑轮和电机的配合可以改变运动形式以适应不同的环境，具有较大的运动灵活性，丰富的运动形式使该机器人可以从容面对各种类型的障碍，并且不用考虑稳定性的问题。

Figure 200910093258

A tetrahedral tumbling robot with a parallel mechanism of the present invention is composed of six telescopic arms and four joint plate assemblies, each of the joint plate assemblies is composed of a joint plate and three universal joints, and the three universal joints The joints are arranged in an equilateral triangle on the bottom plate of the gusset plate. The six telescopic arms have the same structure and are driven by ropes. The two ends of each telescopic arm are respectively connected to the universal joints of the two gusset plate assemblies. The four gusset plate assemblies have the same structure, and the three universal joints in each gusset plate assembly are respectively connected with one end of the three telescopic arms. The robot of the present invention can change the movement form to adapt to different environments through the cooperation of wire rope, wire wheel, pulley and motor in the driving mode, has greater movement flexibility, and rich movement forms enable the robot to calmly face various Type of obstacles, and do not consider the issue of stability.

Figure 200910093258

Description

Tetrahedral rolling robot with parallel institution
Technical field
The present invention relates to a kind of robot that can roll, more particularly say, be meant a kind of tetrahedral rolling robot with parallel institution, this robot can finish actions such as advancing, keep away barrier, obstacle detouring under the complicated ground environment.
Background technology
Tetrahedral rolling robot can change self shape, motion state, gait according to the variation of environment wait the motion that realizes on the complicated ground environment, and that these are traditional robots is irrealizable, so it has stronger adaptive capacity to environment.Civilian, military and deep space probing field all has broad application prospects.
At present, have only the NASA of the U.S. to carry out polyhedron based on the tetrahedron robot robot research that rolls abroad.NASA has had three generations's model machine to produce, and is respectively substance tetrahedral structure, quadruple tetrahedral structure and ten double tetrahedral structures.Present stage has only first generation model machine to realize continuous tumbling motion, second and third in generation model machine motion control method just under study for action.Domestic do not have relevant research report as yet.
It is elementary cell that people such as the Xu Li of Sichuan University hard iron have proposed with the tetrahedron, by the truss mechanism of a plurality of tetrahedron series connection formations.Have only the length of a bar to change in each tetrahedron element of composition truss mechanism, promptly only have one degree of freedom, also can be considered as a kind of serial mechanism.
Summary of the invention
The purpose of this invention is to provide a kind of tetrahedral rolling robot with parallel institution, this robot adopts the cooperation of cotton rope, pulley and motor to be used as power source, the nested mode that adopts the jacket casing tube is as telescopic arm, adopt the two degrees of freedom universal joint as flexible hinge, and be the intersection of telescopic arm, make by utilizing the high advantage of tetrahedron steric configuration stability, having designed with node and expansion link is the tetrahedron frame for movement of elementary cell.Node is the intersection of expansion link, and expansion link is internodal bindiny mechanism.In motion process, six roots of sensation telescopic arm carries out shape and changes by rule is flexible, and when its center of gravity surmounted the stability region, the tetrahedron robot realized rolling.
A kind of tetrahedral rolling robot of the present invention with parallel institution, be to constitute by six roots of sensation telescopic arm and four gusset plate assemblies, described each gusset plate assembly is made up of gusset plate and three universal joints, and three universal joints are the equilateral triangle layout on the base plate face of gusset plate.The structure of six roots of sensation telescopic arm is identical, and adopts the rope type of drive.The two ends of each telescopic arm are connected on the universal joint of two gusset plate assemblies.The structure of four gusset plate assemblies is identical, and three universal joints in each gusset plate assembly are connected with an end of three telescopic arms respectively.Robot of the present invention cooperation by cotton rope, line wheel, pulley and motor on type of drive can change forms of motion to adapt to different environment, has bigger kinematic dexterity, abundant forms of motion makes this robot can face various types of obstacles calmly, and need not consider the problem of stability.
Tetrahedral rolling robot advantage with parallel institution of the present invention is:
1. can change forms of motion to adapt to different environment by the cooperation of cotton rope, pulley and motor robot of the present invention, has bigger kinematic dexterity, abundant forms of motion makes this robot can face various types of obstacles calmly, and need not consider the problem of stability.
2. adopt the gusset plate assembly (gusset plate and three universal joints) and the sleeve group of same structure to form 4 frameworks in space, make to have symmetry and stability on the robot architecture of the present invention, overcome traditional mobile robot's the problem of toppling.
3. robot of the present invention is made up of four nodes and quadruplet expansion link, and its structural design is simple, and parts adopt modularization processing.Therefore can construct multiple tetrahedron robot form with the artificial basic module of single tetrahedron machine.
Description of drawings
Fig. 1 is the structure chart of tetrahedral rolling robot of the present invention.
Fig. 2 is the structure chart of first node board component of the present invention.
Fig. 3 is the structure chart of A telescopic arm of the present invention.
Fig. 3 A is the exploded view of A telescopic arm of the present invention.
Fig. 3 B is the structure chart of A connector of the present invention.
Fig. 3 C is the structure chart of base of the present invention.
Fig. 3 D is another visual angle structure chart of base of the present invention.
Fig. 3 E is the structure chart of B connector of the present invention.
Fig. 3 F is the structure chart of D connector of the present invention.
Fig. 3 G is the structure chart of E connector of the present invention.
Fig. 3 H is the structure chart of A pulley assembly of the present invention.
Fig. 3 I is the structure chart of baffle plate in the A pulley assembly of the present invention.
Fig. 3 J is the structure chart of A pulley base in the A pulley assembly of the present invention.
Fig. 3 K is the structure chart of A pulley spindle in the A pulley assembly of the present invention.
Fig. 3 L is the structure chart of D pulley assembly of the present invention.
Fig. 3 M is the structure chart of D pulley base in the D pulley assembly of the present invention.
Fig. 4 is the installation diagram of pulley of the present invention and cotton rope.
Among the figure: 1.A telescopic arm 11.A sleeve 12.B sleeve 13.C sleeve
14.A pulley assembly 14a.A pulley 141.A pulley base 1411. installed surface 1412.B support arms
1413.A support arm 1414.J through hole 1415.K through hole 142.A baffle plate 1421.A support arm
1422.B support arm 1423. screwed hole 1424.I through hole 143.A pulley spindles 1431. thread segments
1432. pulley segment 15.B pulley assembly 15a.B pulley 16.C pulley assembly 16a.C pulley
17.D pulley assembly 17a.D pulley 17b.E pulley 171.B baffle plate 172.D pulley base
1721. dividing plate 1722.C cavity 1723.D cavity 1724.A lateral plates 1725.B lateral plates
1726. back plate face 1727. base plate face 172a.J through hole 172b.K through holes 173. pins
174.B pulley spindle 175.C pulley spindle 101.A connector 1011. lug 1012.A through holes
1013.B through hole 101 4.A chute 1015.B chute 1016.A plate face 1017.B plate faces
1018.C plate face 102.B connector 1021.C chute 1022.A plate face 103.C connector
1031.U shape is pitched 1032. cylinder links, 104. bases, 1041. upper faces
1042. boss 1043.C through hole 1044. base plate face 1045.D through hole 1046.A cavitys
1047.B cavity 105.D connector 1051.D plate face 1052.C plate face 1053.B plate face
1054.D chute 1055.E through hole 1056.F through hole 1057.E chute 1058.F chute
106.E connector 1061.G chute 1062.G through hole 1063.H through hole 1064. transverse slats
1065.A plate face 107. lines wheel 107a. central through hole 107b.A wire casing 107c.B wire casing
2.B telescopic arm 3.C telescopic arm 4.D telescopic arm 5.E telescopic arm 6.F telescopic arm
1a.AB section cotton rope 1b.CD section cotton rope 1c.EF section cotton rope 1d.GH section cotton rope
7. first node board component 7a.A universal joint 7a-1.A pin-and-hole 7b.B universal joint
7b-1.B pin-and-hole 7c.C universal joint 7c-1.C pin-and-hole 74.A gusset plate 741. base plate faces
8. Section Point board component 8a.D universal joint 8b.E universal joint 8c.F universal joint
9. the 3rd gusset plate assembly 9a.G universal joint 9b.H universal joint 9c.I universal joint
10. the 4th gusset plate assembly 10a.J universal joint 10c.L universal joint
1 1A.A motor 12B.B motor 13C.C motor 14D.D motor 16F.F motor
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The motion mode of the tetrahedral rolling robot of the present invention's design is different with traditional mobile robot, and conventional machines people need rely on bracing or strutting arrangement (wheel, crawler belt, polypody walking leg etc.) to advance, and will guarantee the stability of robot, can not tumble.And having utilized the characteristics of tumbling after the tetrahedron unstability to roll just, the motion mode of tetrahedral rolling robot of the present invention advances.
Referring to Fig. 1, Fig. 2, shown in Figure 3, a kind of tetrahedral rolling robot of the present invention with parallel institution, be to constitute by six roots of sensation telescopic arm and four gusset plate assemblies, described each gusset plate assembly is made up of gusset plate and three universal joints, and three universal joints are the equilateral triangle layout on the base plate face of gusset plate.
In the present invention, the structure of six roots of sensation telescopic arm is identical, and adopts the rope type of drive.Six roots of sensation telescopic arm is meant A telescopic arm 1, B telescopic arm 2, C telescopic arm 3, D telescopic arm 4, E telescopic arm 5 and F telescopic arm 6.The two ends of each telescopic arm are connected on the universal joint of two gusset plate assemblies.
In the present invention, the structure of four gusset plate assemblies is identical, and four gusset plate assemblies are meant first node board component 7, Section Point board component 8, the 3rd gusset plate assembly 9 and the 4th gusset plate assembly 10.Three universal joints in each gusset plate assembly are connected with an end of three telescopic arms respectively.
In the present invention, motor is chosen DC servo motor, and its output minimum power is 100W.A motor 11A is used for 107 motions of drive wire wheel, thereby makes that connecting online rope of taking turns moves.Cooperation robot of the present invention by cotton rope, line wheel, pulley and motor can change forms of motion to adapt to different environment, has bigger kinematic dexterity, abundant forms of motion makes this robot can face various types of obstacles calmly, and need not consider the problem of stability.
Referring to Fig. 3, Fig. 3 A, shown in Figure 4, A telescopic arm 1 has adopted the nested mode of three sleeves, i.e. the outside socket B sleeve 12 of C sleeve 13, and 11, three sleeves of outside socket A sleeve of B sleeve 12 adopt tetragonal hollow aluminum section bar.
A connector 101, A sleeve 11 and base 104 form the first segment arm.The F end of EF section cotton rope 1c is connected on the A connector 101.
B connector 102, B sleeve 12 and D connector 105 form the second joint arm.The B end of AB section cotton rope 1a is connected on the D connector 105.
C connector 103, C sleeve 13 and E connector 106 form the 3rd joint arm.The E end of EF section cotton rope 1c is connected on the E connector 106.
Line wheel 107 is connected on the output shaft of A motor 11A, is connected with the A end of AB section cotton rope 1a and the C end of CD section cotton rope 1b on the line wheel 107.
The first segment arm is motionless with respect to the second joint arm, and A motor 11A drives the second joint arm motion, and the motion with the second joint arm drives the 3rd joint arm 1c motion as power source thus, thereby realizes the flexible of the second joint arm, the 3rd joint arm.The present invention has utilized just changeing, reversing to make and twine the online motion of taking turns the cotton rope receipts weak point on 107 or lengthening the realization second joint arm, the 3rd joint arm of A motor 11A.
Shown in Fig. 1, Fig. 3, Fig. 3 A～Fig. 3 M, the concrete structure of A telescopic arm 1 is:
A telescopic arm 1 includes A sleeve 11, B sleeve 12, C sleeve 13, a plurality of connector and rope driven unit; The rope driven unit includes A motor 11A, AB section cotton rope 1a, CD section cotton rope 1b, EF section cotton rope 1c, GH section cotton rope 1d, A pulley assembly 14, B pulley assembly 15, C pulley assembly 16, D pulley assembly 17, line wheel 107; Wherein, A pulley assembly 14, B pulley assembly 15 are identical with the structure of C pulley assembly 16.
(1) the A sleeve 11
The upper end of A sleeve 11 is connected with A connector 101, and the lower end of A sleeve 11 is connected with base 104;
Shown in Fig. 3 B, A connector 101 part that is formed in one.
The upper end of the A plate face 1016 of A connector 101 is provided with lug 1011, and lug 1011 is provided with A through hole 1012, and the G end that this A through hole 1012 is used for GH section cotton rope 1d passes, and knotting, thereby the G end of realizing GH section cotton rope 1d is connected with the lug 1011 of A connector 101.
The inwall of the B plate face 1017 of A connector 101 is provided with A chute 1014, and the end face of A chute 1014 to B plate faces 1017 is provided with B through hole 1013, the F end that this B through hole 1013 is used for EF section cotton rope 1c is passed to B through hole 1013 by A chute 1014, and knotting, thereby being connected of the B plate face 1017 of the F end of realizing EF section cotton rope 1c and A connector 101.A chute 1014 is used for EF section cotton rope 1c and slides up and down within it, and semicircular chute has guaranteed that EF section cotton rope 1c only slides in chute, and 1c plays spacing effect to EF section cotton rope.
The inwall of the C plate face 1018 of A connector 101 is provided with B chute 1015, and this B chute 1015 is used for AB section cotton rope 1a and slides up and down within it, and semicircular chute has guaranteed that AB section cotton rope 1a only slides in chute, and 1a plays spacing effect to AB section cotton rope.
Shown in Fig. 3 C, Fig. 3 D, base 104 is a hollow structural component, promptly is provided with B cavity 1047, and an end of this B cavity 1047 is equipped with D pulley assembly 17, and other end installation is wired takes turns 107.
The upper face 1041 of base 104 is provided with C through hole 1043 and boss 1042; The output shaft that C through hole 1043 is used for A motor 11A is connected with line wheel 107 by the back, and is installed in C through hole 1043 places of upper face 1041 by three screwed holes that are located at C through hole 1043 outer rims with making A motor 11A cooperating of screw.Be provided with A cavity 1046 in the boss 1042, this A cavity 1046 is used to install C pulley assembly 16.Boss 1042 is used for being connected with the lower end of A sleeve 11.The base plate face 1044 of base 104 is provided with D through hole 1045, and the pin that this D through hole 1045 is used for D pulley assembly 17 passes the back and is connected with the pin-and-hole of D universal joint 81, thus being connected of realization A telescopic arm 1 and Section Point board component 8.
(2) the B sleeve 12
The upper end of B sleeve 12 is connected with B connector 102, and the lower end of B sleeve 12 is connected with D connector 105;
Shown in Fig. 3 E, the inwall of the A plate face 1022 of B connector 102 is provided with C chute 1021, this C chute 1021 is used for GH section cotton rope 1d and slides up and down within it, and semicircular chute has guaranteed that GH section cotton rope 1d only slides in chute, and 1d plays spacing effect to GH section cotton rope.
Shown in Fig. 3 F, the D plate face 1051 of D connector 105 is provided with F chute 1058, and the upper surface of these F chute 1058 to D connectors 105 is provided with F through hole 1056, and the D end that this F through hole 1056 is used for CD section cotton rope 1b passes, and knotting, thereby realize the D end of CD section cotton rope 1b and being connected of D connector 105.This F chute 1058 is used for CD section cotton rope 1b and slides up and down within it, and semicircular chute has guaranteed that CD section cotton rope 1b only slides in chute, and 1b plays spacing effect to CD section cotton rope.
The C plate face 1052 of D connector 105 is provided with E chute 1057, the upper surface of these E chute 1057 to D connectors 105 is provided with E through hole 1055, the B end that this E through hole 1055 is used for AB section cotton rope 1a passes, and knotting, thereby realizes the B end of AB section cotton rope 1a and being connected of D connector 105.This E chute 1057 is used for AB section cotton rope 1a and slides up and down within it, and semicircular chute has guaranteed that AB section cotton rope 1a only slides in chute, and 1a plays spacing effect to AB section cotton rope.
The B plate face 1053 of D connector 105 is provided with D chute 1054, and this D chute 1054 is used for EF section cotton rope 1c and slides up and down within it, and semicircular chute has guaranteed that EF section cotton rope 1c only slides in chute, and 1c plays spacing effect to EF section cotton rope.
(3) the C sleeve 13
The upper end of C sleeve 13 is connected with C connector 103, and the lower end of C sleeve 13 is connected with E connector 106;
As shown in Figure 3A, one end of C connector 103 is a cylinder link 1031, the other end is a U-shaped fork 1032, U-shaped fork 1032 is connected the upper end of C sleeve 13, the A pin-and-hole 7a-1 of A universal joint 7a in cylinder link 1031 and the first node board component 7 is connected, thereby realizes the upper end of A telescopic arm 1 and being connected of first node board component 7.
Shown in Fig. 3 G, E connector 106 is provided with transverse slat 1064, and is provided with H through hole 1063 on transverse slat 1064, and the E end that this H through hole 1063 is used for EF section cotton rope 1c passes, and knotting, thereby realizes the E end of EF section cotton rope 1c and being connected of E connector 106.
The A plate face 1065 of E connector 106 is provided with D chute 1061, the upper surface of these D chute 1061 to E connectors 106 is provided with G through hole 1062, the H end that this G through hole 1062 is used for GH section cotton rope 1d passes, and knotting, thereby realizes the H end of GH section cotton rope 1d and being connected of E connector 106.
(4) the A pulley assembly 14
Shown in Fig. 3 H, Fig. 3 I, Fig. 3 J, Fig. 3 K, A pulley assembly 14 includes pulley base 141, baffle plate 142, pulley spindle 143 and pulley 144,
The upper end of pulley base 141 is provided with A support arm 1413 and B support arm 1412, and A support arm 1413 is provided with K through hole 1415, and B support arm 1412 is provided with J through hole 1412.Pulley base 141 is installed in A pulley assembly 14 by installed surface 1411 upper end of B sleeve 12.
Baffle plate 142 is provided with A support arm 1421 and B support arm 1422, and A support arm 1421 is provided with screwed hole 1423, and B support arm 1422 is provided with I through hole 1424.
Pulley spindle 143 is provided with pulley segment 1432, thread segment 1431.
The installation that A pulley assembly 14 is realized between pulley base 141, baffle plate 142 and the pulleys 144 by pulley spindle 43, promptly the thread segment 1431 of pulley spindle 143 passes I through hole 1424, J through hole 1414, pulley 144, K through hole 1415 rear threads in turn and is connected on the screwed hole 1423.
(5) the D pulley assembly 17
Shown in Fig. 3 A, Fig. 3 L, Fig. 3 M, D pulley assembly 17 includes D pulley 17a, E pulley 17b, B pulley spindle 174, C pulley spindle 175, B baffle plate 171, D pulley base 172, pin 173;
D pulley base 172 is separated into two cavitys by dividing plate 1721, i.e. C cavity 1722, D cavity 1723, and C cavity 1722 is used to place D pulley 17a, and D cavity 1723 is used to place E pulley 17b;
The back plate face 1726 of D pulley base 172 is provided with J through hole 172a;
The base plate face 1727 of D pulley base 172 is provided with K through hole 172b, and this K through hole 172b is used for pin 173 to be passed through, and the link of pin 173 is connected in the pin-and-hole of D universal joint 8a;
D pulley 17a is installed between the A lateral plates 1724 and dividing plate 1721 of D pulley base 172 by B pulley spindle 174;
E pulley 17b is installed between the B lateral plates 1725 and dividing plate 1721 of D pulley base 172 by C pulley spindle 175;
One end of B baffle plate 171 is installed on the B lateral plates 1725, and coaxial with an end of C pulley spindle 175, and the other end of B baffle plate 171 is installed on the dividing plate 1721, and coaxial with the other end of C pulley spindle 175;
In the present invention, four sections cotton ropes (AB section cotton rope 1a, CD section cotton rope 1b, EF section cotton rope 1c, GH section cotton rope 1d) with the canoe of four pulley assemblies (A pulley assembly 14, B pulley assembly 15, C pulley assembly 16, D pulley assembly 17) are:
When A motor 11A clockwise direction rotates, the A of AB section cotton rope 1a end online the wheel on 107 the A wire casing 107a that be connected, behind B pulley 15a and D pulley 17a, the B end of AB section cotton rope 1a is connected on the D connector 105 (D connector 105 is connected with the lower end of B sleeve 12), thereby realizes the elongation of second level arm; The G end of GH section cotton rope 1d is connected with A connector 101 (A connector 101 is connected with the upper end of A sleeve 11) and connects, H end through GH section cotton rope 1d behind the E pulley 17b connects with E connector 106 (E connector 106 is connected with the lower end of C sleeve 13), thereby realizes the elongation of third level arm.
When A motor 11A counterclockwise rotates, the C of CD section cotton rope 1b end online the wheel on 107 the B wire casing 107b that be connected, through being connected behind the A pulley 14a on the D connector 105 (D connector 105 is connected with the lower end of B sleeve 12), thus the arm shortening of the realization second level; The F of EF section cotton rope 1c end is connected on the A connector 101 (A connector 101 is connected with the upper end of A sleeve 11), through being connected behind the C pulley 16a on the E connector 106 (E connector 106 is connected with the lower end of C sleeve 13), thus the shortening of realization third level arm.
Referring to Fig. 1, shown in Figure 2, the concrete structure of first node board component 7 is:
First node board component 7 includes A gusset plate 74, A universal joint 7a, B universal joint 7b, C universal joint 7c composition; A universal joint 7a, B universal joint 7b and C universal joint 7c install according to positive angular distribution on base plate face 741.
The end of A universal joint 7a is installed on the base plate face 741 of A gusset plate 74, and the other end of A universal joint 7a is connected on the cylinder link 1031 of C connector 103 of A telescopic arm 1;
The end of B universal joint 7b is installed on the base plate face 741 of A gusset plate 74, and the other end of B universal joint 7b is connected on the cylinder link of C connector of B telescopic arm 1;
The end of C universal joint 7c is installed on the base plate face 741 of A gusset plate 74, and the other end of C universal joint 7c is connected on the cylinder link of C connector of C telescopic arm 3.
In the present invention, because Section Point board component 8, the 3rd gusset plate assembly 9, the 4th gusset plate assembly 10 are identical with the structure of first node board component 7, so the annexation of the annexation of Section Point board component 8, the 3rd gusset plate assembly 9, the 4th gusset plate assembly 10 and first node board component 7 and A telescopic arm 1 is identical.
Because robot of the present invention has adopted modular parts design, therefore, according to the structure explanation of A telescopic arm 1 and first node board component 7, can derive obtains the structure and the annexation of its excess-three telescopic arm, three gusset plate assemblies.That is:
A universal joint 7a in the first node board component 7 is connected with the cylinder link 1031 of the C connector 103 of A telescopic arm 1, and the pin 173 of the D pulley assembly 17 of A telescopic arm 1 is connected on the D universal joint 8a in the Section Point board component 8.
B universal joint 7b in the first node board component 7 is connected with the cylinder link of the C connector of B telescopic arm 2, and the pin of the D pulley assembly of B telescopic arm 2 is connected on the G universal joint 9a in the 3rd gusset plate assembly 9.
C universal joint 7c in the first node board component 7 is connected with the cylinder link of the C connector of C telescopic arm 3, and the pin of the D pulley assembly of C telescopic arm 3 is connected on the J universal joint 10a in the 4th gusset plate assembly 10.
E universal joint 8b in the Section Point board component 8 is connected with the cylinder link of the C connector of D telescopic arm 4, and the pin of the D pulley assembly of D telescopic arm 4 is connected on the K universal joint (not shown in figure 1) in the 4th gusset plate assembly 10.
F universal joint 8c in the Section Point board component 8 is connected with the cylinder link of the C connector of E telescopic arm 5, and the pin of the D pulley assembly of E telescopic arm 5 is connected on the H universal joint 9b in the 3rd gusset plate assembly 9.
L universal joint 10c in the 4th gusset plate assembly 10 is connected with the cylinder link of the C connector C connector of F telescopic arm 6, and the pin of the D pulley assembly of F telescopic arm 6 is connected on the I universal joint 9c in the 3rd gusset plate assembly 9.
A motor 11A is installed on the base 104 of A telescopic arm 1;
B motor 12B is installed on the base of B telescopic arm 2;
C motor 13C is installed on the base of C telescopic arm 3;
D motor 14D is installed on the base of D telescopic arm 4;
E motor 15E is installed on the base of E telescopic arm 5;
F motor 16F is installed on the base of F telescopic arm 6.
In order to guarantee that universal joint can satisfy the requirement that the telescopic arm pose changes fully, the present invention adopts the universal joint that possesses two frees degree to be connected with telescopic arm, thereby realizes relatively rotating of telescopic arm.
The tetrahedral rolling robot of the present invention's design is in motion process, and the six roots of sensation telescopic arm of tetrahedral rolling robot is flexible according to certain rule, and tetrahedral shape changes, position of centre of gravity becomes thereupon, when center of gravity surmounted its stability region, tetrahedron robot unstability was rolled.Tetrahedral shape constantly changes according to a certain rule, as long as satisfy instability condition, just can realize that continuous rolling advance.By adjusting the forms of motion (number of expansion link, the speed ratio of telescopic arm, acceleration ratio etc.) of six roots of sensation telescopic arm, can realize the different gaits of tetrahedral rolling robot.

Claims (9)

1、一种具有并联机构的四面体翻滚机器人，其特征在于：该机器人是由六根伸缩臂和四个节点板组件构成；1. A tetrahedron rolling robot with a parallel mechanism, characterized in that: the robot is composed of six telescopic arms and four gusset plate assemblies; 四个节点板组件是指结构相同的第一节点板组件(7)、第二节点板组件(8)、第三节点板组件(9)和第四节点板组件(10)；每一个节点板组件由节点板和三个万向节组成，且三个万向节呈正三角形布局在节点板的底板面上；The four gusset plate assemblies refer to the first gusset plate assembly (7), the second gusset plate assembly (8), the third gusset plate assembly (9) and the fourth gusset plate assembly (10) with the same structure; each gusset plate The component is composed of a gusset plate and three universal joints, and the three universal joints are arranged in an equilateral triangle on the bottom surface of the gusset plate; 六根伸缩臂是指结构相同的A伸缩臂(1)、B伸缩臂(2)、C伸缩臂(3)、D伸缩臂(4)、E伸缩臂(5)和F伸缩臂(6)；每一个伸缩臂的两端分别连接在两个节点板组件的万向节上；The six telescopic arms refer to A telescopic arms (1), B telescopic arms (2), C telescopic arms (3), D telescopic arms (4), E telescopic arms (5) and F telescopic arms (6) with the same structure; The two ends of each telescopic arm are respectively connected to the universal joints of the two gusset plate assemblies; 所述机器人采用线绳、线轮、滑轮和电机的配合实现绳驱动；The robot adopts the cooperation of wire rope, wire wheel, pulley and motor to realize rope drive; 所述机器人的运动方式是利用了四面体失稳后倾翻的特点翻滚行进的。The movement mode of the robot utilizes the characteristic of the tetrahedron topple after losing stability, and rolls forward. 2、根据权利要求1所述的具有并联机构的四面体翻滚机器人，其特征在于：A伸缩臂(1)包括有A套筒(11)、B套筒(12)、C套筒(13)、多个连接头和绳驱动组件；绳驱动组件包括有A电机(11A)、AB段线绳(1a)、CD段线绳(1b)、EF段线绳(1c)、GH段线绳(1d)、A滑轮组件(14)、B滑轮组件(15)、C滑轮组件(16)、D滑轮组件(17)、线轮(107)；其中，A滑轮组件(14)、B滑轮组件(15)和C滑轮组件(16)的结构相同；2. The tetrahedron rolling robot with parallel mechanism according to claim 1, characterized in that: A telescopic arm (1) includes A sleeve (11), B sleeve (12), and C sleeve (13) , a plurality of connectors and a rope drive assembly; the rope drive assembly includes an A motor (11A), an AB section wire rope (1a), a CD section wire rope (1b), an EF section wire rope (1c), and a GH section wire rope ( 1d), A pulley assembly (14), B pulley assembly (15), C pulley assembly (16), D pulley assembly (17), wire wheel (107); Wherein, A pulley assembly (14), B pulley assembly ( 15) are identical in structure with the C pulley assembly (16); A连接头(101)、A套筒(11)和底座(104)形成第一节臂；EF段线绳(1c)的F端连接在A连接头(101)上；The A connector (101), the A sleeve (11) and the base (104) form the first joint arm; the F end of the EF segment wire rope (1c) is connected to the A connector (101); B连接头(102)、B套筒(12)和D连接头(105)形成第二节臂；AB段线绳(1a)的B端连接在D连接头(105)上；The B connector (102), the B sleeve (12) and the D connector (105) form the second joint arm; the B end of the AB segment wire rope (1a) is connected to the D connector (105); C连接头(103)、C套筒(13)和E连接头(106)形成第三节臂；EF段线绳(1c)的E端连接在E连接头(106)上；The C connector (103), the C sleeve (13) and the E connector (106) form the third joint arm; the E end of the EF segment wire rope (1c) is connected to the E connector (106); 线轮(107)连接在A电机(11A)的输出轴上，线轮(107)上连接有AB段线绳(1a)的A端和CD段线绳(1b)的C端；The wire wheel (107) is connected on the output shaft of the A motor (11A), and the A end of the AB segment wire rope (1a) and the C end of the CD segment wire rope (1b) are connected on the wire wheel (107); A套筒(11)的上端与A连接头(101)连接，A套筒(11)的下端与底座(104)连接；The upper end of the A sleeve (11) is connected with the A connector (101), and the lower end of the A sleeve (11) is connected with the base (104); A连接头(101)的A板面(1016)的上端设有凸耳(1011)，凸耳(1011)上设有A通孔(1012)，该A通孔(1012)用于GH段线绳(1d)的G端穿过，且打结，从而实现GH段线绳(1d)的G端与A连接头(101)的凸耳(1011)连接；A连接头(101)的B板面(1017)的内壁上设有A滑槽(1014)，且A滑槽(1014)至B板面(1017)的端面设有B通孔(1013)，该B通孔(1013)用于EF段线绳(1c)的F端由A滑槽(1014)向B通孔(1013)穿过，且打结，从而实现EF段线绳(1c)的F端与A连接头(101)的B板面(1017)的连接；A滑槽(1014)用于EF段线绳(1c)在其内上下滑动，半圆形的滑槽保证了EF段线绳(1c)仅在滑槽内滑动，对EF段线绳(1c)起到限位的作用；A连接头(101)的C板面(1018)的内壁上设有B滑槽(1015)，该B滑槽(1015)用于AB段线绳(1a)在其内上下滑动，半圆形的滑槽保证了AB段线绳(1a)仅在滑槽内滑动，对AB段线绳(1a)起到限位的作用；The upper end of the A board surface (1016) of the A connector (101) is provided with a lug (1011), and the lug (1011) is provided with an A through hole (1012), and the A through hole (1012) is used for the GH segment line The G end of the rope (1d) passes through and is knotted, so that the G end of the GH segment wire rope (1d) is connected to the lug (1011) of the A connector (101); the B plate of the A connector (101) A chute (1014) is provided on the inner wall of the surface (1017), and a B through hole (1013) is provided on the end surface from the A chute (1014) to the B board surface (1017), and the B through hole (1013) is used for The F end of the EF segment cord (1c) passes through the A chute (1014) to the B through hole (1013) and is tied, so that the F end of the EF segment cord (1c) and the A connector (101) The connection of the B board surface (1017); the A chute (1014) is used for the EF section wire rope (1c) to slide up and down in it, and the semicircular chute ensures that the EF section wire rope (1c) only slides in the chute Sliding inside, it plays the role of limiting the EF segment wire rope (1c); the inner wall of the C board surface (1018) of the A connector (101) is provided with a B chute (1015), and the B chute (1015) It is used to slide up and down the section AB wire rope (1a), and the semicircular chute ensures that the AB section wire rope (1a) only slides in the chute, and acts as a limiter for the AB section wire rope (1a) effect; 底座(104)上设有B空腔(1047)，该B空腔(1047)的一端安装有D滑轮组件(17)，另一端安装有线轮(107)；底座(104)的上板面(1041)上设有C通孔(1043)和凸台(1042)；C通孔(1043)用于A电机(11A)的输出轴通过后与线轮(107)连接，并通过设在C通孔(1043)外缘的三个螺纹孔与螺钉的配合使A电机(11A)安装在上板面(1041)的C通孔(1043)处；凸台(1042)内设有A空腔(1046)，该A空腔(1046)用于安装C滑轮组件(16)；凸台(1042)用于与A套筒(11)的下端连接；底座(104)的底板面(1044)上设有D通孔(1045)，该D通孔(1045)用于D滑轮组件(17)的销钉穿过后与D万向节(81)的销孔连接，从而实现A伸缩臂(1)与第二节点板组件(8)的连接；Base (104) is provided with B cavity (1047), and one end of this B cavity (1047) is equipped with D pulley assembly (17), and the other end is equipped with wire wheel (107); 1041) is provided with C through hole (1043) and boss (1042); The three threaded holes on the outer edge of the hole (1043) and the cooperation of the screw make the A motor (11A) installed at the C through hole (1043) of the upper plate (1041); the boss (1042) is provided with an A cavity ( 1046), the A cavity (1046) is used to install the C pulley assembly (16); the boss (1042) is used to connect with the lower end of the A sleeve (11); There is D through hole (1045), and this D through hole (1045) is used for the pin of D pulley assembly (17) to pass through and is connected with the pin hole of D universal joint (81), thereby realizes A telescopic arm (1) and the first The connection of two gusset plate components (8); B套筒(12)的上端与B连接头(102)连接，B套筒(12)的下端与D连接头(105)连接；The upper end of the B sleeve (12) is connected to the B connector (102), and the lower end of the B sleeve (12) is connected to the D connector (105); B连接头(102)的A板面(1022)的内壁上设有C滑槽(1021)，该C滑槽(1021)用于GH段线绳(1d)在其内上下滑动，半圆形的滑槽保证了GH段线绳(1d)仅在滑槽内滑动，对GH段线绳(1d)起到限位的作用；The inner wall of the A plate (1022) of the B connector (102) is provided with a C chute (1021), and the C chute (1021) is used for the GH section wire rope (1d) to slide up and down in it, semicircular The chute ensures that the GH section wire rope (1d) only slides in the chute, and acts as a limit to the GH section wire rope (1d); D连接头(105)的D板面(1051)上设有F滑槽(1058)，该F滑槽(1058)至D连接头(105)的上端面设有F通孔(1056)，该F通孔(1056)用于CD段线绳(1b)的D端穿过，且打结，从而实现CD段线绳(1b)的D端与D连接头(105)的连接；该F滑槽(1058)用于CD段线绳(1b)在其内上下滑动，半圆形的滑槽保证了CD段线绳(1b)仅在滑槽内滑动，对CD段线绳(1b)起到限位的作用；D连接头(105)的C板面(1052)上设有E滑槽(1057)，该E滑槽(1057)至D连接头(105)的上端面设有E通孔(1055)，该E通孔(1055)用于AB段线绳(1a)的B端穿过，且打结，从而实现AB段线绳(1a)的B端与D连接头(105)的连接；该E滑槽(1057)用于AB段线绳(1a)在其内上下滑动，半圆形的滑槽保证了AB段线绳(1a)仅在滑槽内滑动，对AB段线绳(1a)起到限位的作用；D连接头(105)的B板面(1053)上设有D滑槽(1054)，该D滑槽(1054)用于EF段线绳(1c)在其内上下滑动，半圆形的滑槽保证了EF段线绳(1c)仅在滑槽内滑动，对EF段线绳(1c)起到限位的作用；The D plate surface (1051) of the D connector (105) is provided with an F chute (1058), and the upper end surface of the F chute (1058) to the D connector (105) is provided with an F through hole (1056). The F through hole (1056) is used for the D end of the CD segment wire rope (1b) to pass through, and tie a knot, thereby realizing the connection between the D end of the CD segment wire rope (1b) and the D connector (105); the F slide Groove (1058) is used for CD section wire rope (1b) to slide up and down in it, and semicircular chute has guaranteed that CD section wire rope (1b) only slides in the chute, and CD section wire rope (1b) To limit the effect; the C plate (1052) of the D connector (105) is provided with an E chute (1057), and the upper end surface of the E chute (1057) to the D connector (105) is provided with an E pass Hole (1055), the E through hole (1055) is used for the B end of the AB section wire rope (1a) to pass through, and knotted, thereby realizing the B end of the AB section wire rope (1a) and the D connector (105) connection; the E chute (1057) is used for the AB section wire rope (1a) to slide up and down in it, and the semicircular chute ensures that the AB section wire rope (1a) only slides in the chute. The wire rope (1a) acts as a limiter; the B board surface (1053) of the D connector (105) is provided with a D chute (1054), and the D chute (1054) is used for the EF segment wire rope (1c ) slides up and down in it, and the semicircular chute ensures that the EF section wire rope (1c) only slides in the chute, and acts as a limit to the EF section wire rope (1c); C套筒(13)的上端与C连接头(103)连接，C套筒(13)的下端与E连接头(106)连接；The upper end of the C sleeve (13) is connected with the C connector (103), and the lower end of the C sleeve (13) is connected with the E connector (106); C连接头(103)的一端为圆柱连接端(1031)，另一端为U形叉(1032)，U形叉(1032)连接在C套筒(13)的上端，圆柱连接端(1031)与第一节点板组件(7)中的A万向节(7a)的A销孔(7a-1)连接，从而实现A伸缩臂(1)的上端与第一节点板组件(7)的连接；One end of the C connector (103) is a cylinder connection end (1031), the other end is a U-shaped fork (1032), and the U-shaped fork (1032) is connected to the upper end of the C sleeve (13), and the cylinder connection end (1031) is connected to The A pin holes (7a-1) of the A universal joint (7a) in the first gusset plate assembly (7) are connected, thereby realizing the connection between the upper end of the A telescopic arm (1) and the first gusset plate assembly (7); E连接头(106)上设有横板(1064)，并在横板(1064)上设有H通孔(1063)，该H通孔(1063)用于EF段线绳(1c)的E端穿过，且打结，从而实现EF段线绳(1c)的E端与E连接头(106)的连接；E连接头(106)的A板面(1065)上设有D滑槽(1061)，该D滑槽(1061)至E连接头(106)的上端面设有G通孔(1062)，该G通孔(1062)用于GH段线绳(1d)的H端穿过，且打结，从而实现GH段线绳(1d)的H端与E连接头(106)的连接；A horizontal plate (1064) is provided on the E connector (106), and an H through hole (1063) is provided on the horizontal plate (1064). The H through hole (1063) is used for the E end through, and knotted, so as to realize the connection between the E end of the EF segment wire rope (1c) and the E connector (106); the A board (1065) of the E connector (106) is provided with a D chute ( 1061), the upper end surface of the D chute (1061) to the E connector (106) is provided with a G through hole (1062), and the G through hole (1062) is used for the H end of the GH segment wire rope (1d) to pass through , and tie a knot, thereby realizing the connection between the H end of the GH segment wire rope (1d) and the E connector (106); A滑轮组件(14)包括有滑轮座(141)、挡板(142)、滑轮轴(143)和滑轮(144)；滑轮座(141)的上端设有A支臂(1413)和B支臂(1412)，A支臂(1413)上设有K通孔(1415)，B支臂(1412)上设有J通孔(1412)；滑轮座(141)通过安装面(1411)将A滑轮组件(14)安装在B套筒(12)的上端；挡板(142)上设有A支臂(1421)和B支臂(1422)，A支臂(1421)上设有螺纹孔(1423)，B支臂(1422)上设有I通孔(1424)；滑轮轴(143)上设有滑轮段(1432)、螺纹段(1431)；A pulley assembly (14) comprises pulley seat (141), baffle plate (142), pulley axle (143) and pulley (144); The upper end of pulley seat (141) is provided with A support arm (1413) and B support arm (1412), the A support arm (1413) is provided with the K through-hole (1415), and the B support arm (1412) is provided with the J through-hole (1412); The piece (14) is installed on the upper end of the B sleeve (12); the baffle plate (142) is provided with the A support arm (1421) and the B support arm (1422), and the A support arm (1421) is provided with a threaded hole (1423 ), B support arm (1422) is provided with I through hole (1424); Pulley shaft (143) is provided with pulley segment (1432), threaded segment (1431); D滑轮组件(17)包括有D滑轮(17a)、E滑轮(17b)、B滑轮轴(174)、C滑轮轴(175)、B挡板(171)、D滑轮座(172)、销钉(173)；D滑轮座(172)通过隔板(1721)分隔成两个空腔，即C空腔(1722)、D空腔(1723)，C空腔(1722)用于放置D滑轮(17a)，D空腔(1723)用于放置E滑轮(17b)；D滑轮座(172)的后板面(1726)上设有J通孔(172a)；D滑轮座(172)的底板面(1727)上设有K通孔(172b)，该K通孔(172b)用于销钉(173)通过，销钉(173)的连接端连接在D万向节(8a)的销孔内；D滑轮(17a)通过B滑轮轴(174)安装在D滑轮座(172)的A侧板面(1724)与隔板(1721)之间；E滑轮(17b)通过C滑轮轴(175)安装在D滑轮座(172)的B侧板面(1725)与隔板(1721)之间；B挡板(171)的一端安装在B侧板面(1725)上，且与C滑轮轴(175)的一端同轴，B挡板(171)的另一端安装在隔板(1721)上，且与C滑轮轴(175)的另一端同轴。D pulley assembly (17) comprises D pulley (17a), E pulley (17b), B pulley shaft (174), C pulley shaft (175), B baffle plate (171), D pulley seat (172), pin ( 173); the D pulley seat (172) is divided into two cavities by the dividing plate (1721), namely the C cavity (1722), the D cavity (1723), and the C cavity (1722) is used to place the D pulley (17a ), the D cavity (1723) is used to place the E pulley (17b); the rear plate surface (1726) of the D pulley seat (172) is provided with the J through hole (172a); the bottom plate surface of the D pulley seat (172) ( 1727) is provided with a K through hole (172b), the K through hole (172b) is used for the passage of the pin (173), and the connecting end of the pin (173) is connected in the pin hole of the D universal joint (8a); the D pulley (17a) is installed between the A side plate (1724) and the partition (1721) of the D pulley seat (172) through the B pulley shaft (174); the E pulley (17b) is installed on the D side through the C pulley shaft (175). Between the B side plate surface (1725) of the pulley seat (172) and the dividing plate (1721); one end of the B baffle plate (171) is installed on the B side plate surface (1725), and is connected with the C pulley shaft (175) One end is coaxial, and the other end of the B baffle plate (171) is installed on the dividing plate (1721), and is coaxial with the other end of the C pulley shaft (175). 3、根据权利要求1或2所述的具有并联机构的四面体翻滚机器人，其特征在于：A伸缩臂1采用了三个套筒的嵌套方式。3. The tetrahedron tumbling robot with parallel mechanism according to claim 1 or 2, characterized in that: A telescopic arm 1 adopts the nesting method of three sleeves. 4、根据权利要求1或2所述的具有并联机构的四面体翻滚机器人，其特征在于：第一节臂相对于第二节臂是不动的，A电机(11A)驱动第二节臂运动，由此将第二节臂的运动作为动力源来带动第三节臂(1c)运动，从而实现第二节臂、第三节臂的伸缩。4. The tetrahedron rolling robot with parallel mechanism according to claim 1 or 2, characterized in that: the first joint arm is stationary relative to the second joint arm, and the A motor (11A) drives the second joint arm to move , thus using the movement of the second section arm as a power source to drive the movement of the third section arm (1c), thereby realizing the expansion and contraction of the second section arm and the third section arm. 5、根据权利要求1或2所述的具有并联机构的四面体翻滚机器人，其特征在于：利用A电机(11A)的正转、反转来使缠绕在线轮(107)上的线绳收短或放长实现第二节臂、第三节臂的运动。5. The tetrahedron tumbling robot with parallel mechanism according to claim 1 or 2, characterized in that the wire rope wound on the wire pulley (107) is shortened by using the forward rotation and reverse rotation of the A motor (11A) Or stretch to realize the motion of the second joint arm and the third joint arm. 6、根据权利要求1或2所述的具有并联机构的四面体翻滚机器人，其特征在于：当A电机(11A)顺时针方向转动时，AB段线绳(1a)的A端固连在线轮(107)的A线槽(107a)上，经B滑轮(15a)和D滑轮(17a)后，AB段线绳(1a)的B端连接在D连接头(105)上，从而实现第二级臂的伸长；GH段线绳(1d)的G端连接在与A连接头(101)连接，经过E滑轮(17b)后GH段线绳(1d)的H端与E连接头(106)连接，从而实现第三级臂的伸长。6. The tetrahedron rolling robot with parallel mechanism according to claim 1 or 2, characterized in that: when the A motor (11A) rotates clockwise, the A end of the AB segment wire rope (1a) is fixedly connected to the wire wheel On the A groove (107a) of (107), after the B pulley (15a) and the D pulley (17a), the B end of the AB segment wire rope (1a) is connected on the D connector (105), thereby realizing the second The elongation of the stage arm; the G end of the GH segment wire rope (1d) is connected with the A connector (101), and the H end of the GH segment wire rope (1d) is connected with the E connector (106) after the E pulley (17b) ) connection to achieve the elongation of the third-stage arm. 7、根据权利要求1或2所述的具有并联机构的四面体翻滚机器人，其特征在于：当A电机(11A)逆时针方向转动时，CD段线绳(1b)的C端固连在线轮(107)的B线槽(107b)上，经A滑轮(14a)后连接在D连接头(105)上，从而实现第二级臂缩短；EF段线绳(1c)的F端连接在A连接头(101)上，经C滑轮(16a)后连接在E连接头(106)上，从而实现第三级臂缩短。7. The tetrahedron rolling robot with parallel mechanism according to claim 1 or 2, characterized in that: when the A motor (11A) rotates counterclockwise, the C end of the CD section wire rope (1b) is fixedly connected to the wire wheel On the B groove (107b) of (107), it is connected on the D connector (105) after the A pulley (14a), thereby realizing the second-stage arm shortening; the F end of the EF section wire rope (1c) is connected on the A On the connecting head (101), it is connected on the E connecting head (106) after passing through the C pulley (16a), thereby realizing the shortening of the third stage arm. 8、根据权利要求1所述的具有并联机构的四面体翻滚机器人，其特征在于：第一节点板组件(7)包括有A节点板(74)、A万向节(7a)、B万向节(7b)、C万向节(7c)组成；A万向节(7a)、B万向节(7b)和C万向节(7c)在底板面(741)上按照正三角分布安装；8. The tetrahedron rolling robot with parallel mechanism according to claim 1, characterized in that: the first joint plate assembly (7) includes A joint plate (74), A universal joint (7a), B universal joint joint (7b), C universal joint (7c); A universal joint (7a), B universal joint (7b) and C universal joint (7c) are installed on the bottom plate surface (741) according to the regular triangle distribution; A万向节(7a)的一端安装在A节点板(74)的底板面(741)上，A万向节(7a)的另一端连接在A伸缩臂(1)的C连接头(103)的圆柱连接端(1031)上；One end of the A universal joint (7a) is installed on the base plate (741) of the A gusset plate (74), and the other end of the A universal joint (7a) is connected to the C connector (103) of the A telescopic arm (1) On the cylinder connecting end (1031); B万向节(7b)的一端安装在A节点板(74)的底板面(741)上，B万向节(7b)的另一端连接在B伸缩臂(1)的C连接头的圆柱连接端上；One end of the B universal joint (7b) is installed on the base plate (741) of the A gusset plate (74), and the other end of the B universal joint (7b) is connected to the cylindrical connection of the C joint of the B telescopic arm (1) end; C万向节7c的一端安装在A节点板74的底板面741上，C万向节7c的另一端连接在C伸缩臂3的C连接头的圆柱连接端上。One end of the C universal joint 7c is installed on the bottom plate surface 741 of the A node plate 74, and the other end of the C universal joint 7c is connected on the cylindrical connection end of the C connector of the C telescopic arm 3. 9、根据权利要求1或8所述的具有并联机构的四面体翻滚机器人，其特征在于：万向节采用具备两个自由度的万向节。9. The tetrahedral tumbling robot with parallel mechanism according to claim 1 or 8, characterized in that: the universal joint adopts a universal joint with two degrees of freedom.
CN200910093258A 2009-09-24 2009-09-24 Tetrahedral rolling robot with parallel mechanism Pending CN101664926A (en)

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