CN206804310U - Platform is debugged by a kind of robot - Google Patents
Platform is debugged by a kind of robot Download PDFInfo
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- CN206804310U CN206804310U CN201720454989.2U CN201720454989U CN206804310U CN 206804310 U CN206804310 U CN 206804310U CN 201720454989 U CN201720454989 U CN 201720454989U CN 206804310 U CN206804310 U CN 206804310U
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Abstract
The utility model provides a kind of robot debugging platform, including top fixing plate, X-axis sliding chute rod, X-axis guide rail, Y-axis chute, Y-axis guide rail, hanger bar, Z axis fix bar, 4DOF attachment means, wherein：Top fixing plate is arranged in X-axis guide rail by X-axis sliding chute rod, and X-axis sliding chute rod moves horizontally along X-axis guide rail, so as to realize top fixing plate moving horizontally along X-direction；There is Y-axis chute at the both ends of X-axis guide rail, and Y-axis chute moves horizontally along Y-axis guide rail, so as to realize top fixing plate moving horizontally along Y direction；The both ends of Y-axis guide rail are fixed in hanger bar；The top of top fixing plate is connected with 4DOF attachment means；Z axis fix bar is fixed in 4DOF attachment means；Be connected debugged robot device below Z axis fix bar.The utility model is used to test the self-stability energy and exercise performance of robot system.
Description
Technical field
Robot testing's technical field is the utility model is related to, in particular it relates to which platform is debugged by a kind of robot.
Background technology
Robot is a kind of machine of automation, except that this machine possesses some and intelligence as people or biofacies
Energy ability, it is a kind of automation machine with high degree of flexibility such as perception, planning ability, Motor ability and cooperative ability
Device.It can be divided into from application angle definition：Bio-robot, wheeled robot are creeped or creepage robot, mechanical arm etc..
Robot has all played very important effect in fields such as industry, service trades.For future technology
Speech, with the development of science and technology, is constantly captured, the technology of manufacture machine people.Some mechanicalnesses can only be done from industrial robot
Action, intelligent robot by now, speak, with multiple sensors, can effectively adapt to change environment, have very
Strong adaptive ability, learning ability and autonomy function.Even help the daily life of the mankind.
At present there are some outstanding problems in the test equipment of robot of China, such as lack unified planning, function unification,
Standardization, seriation and generalization degree are low etc..This requires the robot comprehensive performance testing system of modernization disclosure satisfy that
More fully experiment needs：Robot can be carried out effectively detecting and assessing；Can be to robot control system progress side
Just and comprehensive feature detects；Robot can be broken down and carry out ex-post analysis, simulation and failure zero；Subsequently changing
During entering, amended robot control system can be tested and verified.
Platform feature is single, robot mobile range on debugging platform is small in the presence of debugging for existing debugging platform scheme
The problem of.
Through retrieval：
Robot list leg assembly control exploitation Testing Platform and method (201210355304.0), the invention discloses
A kind of robot list leg assembly control exploitation Testing Platform and method, the test platform is applied to four-footed or polypody hydraulic pressure drives
Single leg motion and quick gait control in the bionical gait generation of mobile robot, and the distribution of robot load distribution, controling power, list
The exploitation and research of leg strength feedback control, " discrete gait+continuous force control " pose stabilization control multiple control strategy；Sufficient formula step
Row robot both legs strength of one's legs test experiments platform (201410106755.X), disclose a kind of sufficient formula walking robot both legs pin
Power test experiments platform.The experiment porch is by robot both legs experimental stand, robot list leg assembly, robot both legs connection
Device, both legs experiment mechanism of robot and robot both legs controller composition；A kind of manipulator test platform
(201510718505.6), there is provided a kind of manipulator test platform applied to robotic device field；A kind of unmanned aerial vehicle onboard
Multiaxis head debugging platform (201610519358.4), a kind of unmanned aerial vehicle onboard multiaxis head debugging platform is disclosed, is related to cloud
Platform detection technique field, including three platform, debugging system and power supply module parts, the present invention set " test ", " debugging " and
Functions such as " demonstrations " is integrated, and can be gathered the posture and other data of tested head comprehensively, is easy to staff to carry out it comprehensive
Close evaluation and debugging.
Debugging apparatus involved by above-mentioned patent be all based on base type, put down for the debugging of single kind robot
Platform, because the species of robot is a lot, function is different, such as：Sufficient formula walking robot, airborne tripod head, manipulator, nobody
Machine etc., the object that debugging equipment is directed to is single, and cost is higher.
Debugging apparatus involved by above-mentioned 4 patents does not include platform rail.The guide rail of horizontal direction can increase machine
Device people debugs horizontal moving ranges, and this is not available for three of the above device.The guide rail of vertical direction can increase robot
Vertical direction moving range is debugged, the method for the debugging apparatus involved by three of the above patent is based on one-dimensional movement, debugging
Scope be very restricted.
Utility model content
For in the prior art the defects of, the purpose of this utility model is to provide a kind of robot debugging platform, for pair
The self-stability of robot system can be debugged with exercise performance, while ensure experiment safety.
To realize object above, the utility model provides a kind of robot debugging platform, including：Top fixing plate, X axles
Sliding chute rod, X-axis guide rail, Y-axis chute, Y-axis guide rail, hanger bar, Z axis fix bar, and 4DOF attachment means；Wherein：
The bottom of the top fixing plate is provided with some X-axis sliding chute rods, the X-axis sliding chute rod and the X spindle guides
Rail coordinates, and the X-axis sliding chute rod moves horizontally along the X-axis guide rail, so as to realize water of the top fixing plate along X-direction
Translation is dynamic；The both ends of the X-axis guide rail are separately installed with the Y-axis chute, and the Y axles chute coordinates with the Y-axis guide rail,
The Y-axis chute moves horizontally along the Y-axis guide rail, so as to realize the top fixing plate moving horizontally along Y direction；Institute
The both ends for stating Y-axis guide rail are fixed in the hanger bar；The top of the top fixing plate is connected with the 4DOF connection dress
Put；The Z axis fix bar is fixed in the 4DOF attachment means, and bulb pass is provided with below the Z axis fix bar
Bearings are simultaneously connected debugged robot by the bulb joint bearing.
Preferably, the 4DOF attachment means include：X-axis bearing, X-axis angular encoder, Y-axis bearing, Y-axis angle
Encoder, Z axis linear bearing, fixed pedestal, and 4DOF attachment means skeleton；Wherein：
The fixed pedestal is fixed on the top of the top fixing plate；The both ends of the X-axis bearing are fixed on described solid
Determine on pedestal；The 4DOF attachment means skeleton is fastened on the medium position of the X-axis bearing；The X-axis angle is compiled
Code device is connected and fixed on one end of the X-axis bearing；The Y-axis bearing, institute are fixed with the 4DOF attachment means skeleton
Y-axis angular encoder and the Z axis linear bearing are stated, and the Z axis fix bar passes through the Z axis linear bearing；
X-axis bearing, X-axis angular encoder, Y-axis bearing and Y-axis angle are fixed with the 4DOF attachment means skeleton
Encoder is spent, drives X-axis bearing and Y-axis bearing to rotate by being debugged the displacement of robot, so as to realize debugging
Debugged robot while passes through X-axis angular encoder and Y-axis angular encoder in the movement in 4 directions in front, rear, left and right
Measurement draws the deflection pose of Z axis fix bar；Z axis fix bar is passed through in the Z axis linear bearing, Z axis fix bar is in Z axis straight line
Moved up and down in bearing, so as to drive the debugged robot being fixed on by bulb joint bearing below Z axis fix bar to realize
The movement in upper and lower 2 directions；The link position of the debugging platform and debugged robot regards the kind of specific debugged robot
Depending on class.
Preferably, the quantity of the X-axis sliding chute rod is no less than two.
Preferably, the X-axis guide rail is provided with position coder, for measuring the position of top fixing plate in the X-axis direction
Put.
It is highly preferred that the position coder uses magnetic-grid-type position coder, the magnetic-grid-type position coder has
Precision is high, cost is low and the characteristics of being easily installed and use.
Preferably, the quantity of the X-axis guide rail is two.
Preferably, position coder is installed in the Y-axis guide rail, for measuring the position of Y-axis guide rail in the Y-axis direction
Put, namely the position of top fixing plate in the Y-axis direction.
It is highly preferred that the position coder uses magnetic-grid-type position coder, the magnetic-grid-type position coder has
Precision is high, cost is low and the characteristics of being easily installed and use.
Preferably, the quantity of the Y-axis guide rail is two.
Preferably, the Z axis fix bar is respectively arranged with fixed stopping means in the upper and lower of 4DOF attachment means,
What the fixed stopping means was used to limiting the Z axis fix bar moves up and down scope, so that debugged robot is spacing
In the range of move freely.
Preferably, inertia measuring module is additionally provided with the Z axis fix bar, the inertia measuring module is used to measure institute
State the posture of Z axis fix bar.
Preferably, the hanger bar is the support bar of variable-length, the elongation of hanger bar and is shortened for adjusting Y-axis guide rail
Height, so as to realize the adjustment to the top fixing plate height.
Preferably, the debugging platform is additionally provided with the host computer for participating in debugged robot debugging, the host computer with
Wired or wireless data communication is carried out between debugged robot, wherein：
The mode of cable data communication, refers to：By setting data wire to connect host computer and debugged robot, pass through number
Realize that the cable data between host computer and debugged robot communicates according to line；
The mode of wireless data communication, refers to：Radio station is set in host computer, debugged robot respectively, passed through
Radio station realizes the wireless data communication between host computer and debugged robot.
Debugged robot described in the utility model is legged type robot, and the legged type robot includes：Sufficient formula list leg machine
Device people, Zu Shi both legs robot；
Or the debugged robot is manipulator, the manipulator includes：Special manipulator, Unimate；
Or the debugged robot is unmanned plane, the unmanned plane includes：Multi-rotor unmanned aerial vehicle, fixed-wing nobody
Machine.
The utility model is by setting fixed stopping means debugged robot is moved freely in spacing scope, simultaneously
The platform is hook wall testing platform, can greatly reduce the fixed pedestal of 4DOF attachment means to being sensed in robot
The interference of device.When being debugged robot using the platform testing, for debugged robot performance's parameter, using described
Platform just corresponds in debugged robot the heavy burden for having added a Z axis fix bar, and other structures are without departing from spacing scope
When will not act power to debugged robot.The platform operationally, passes through X-axis angular encoder and Y-axis angle
The measurement of encoder draws the deflection pose of Z axis fix bar；It is horizontal along X-axis guide rail that the platform automatically controls top fixing plate
Movement, and X-axis guide rail move horizontally along Y-axis guide rail, so that Z axis fix bar tends to vertical state.
Compared with prior art, the utility model has following beneficial effect：
The utility model can play effective protective effect to debugged robot, reduce machine in debugging machine people
Loss caused by people's control system imperfection is blindly debugged to robot；When carrying out robot debugging, this practicality can be used
The new measurement result to robot participates in robot control；The utility model can debug a variety of robot types, such as imitative
Raw robot, unmanned plane, unmanned aerial vehicle onboard head, the robot single compared to test approaches debugging platform, can be reduced
Cost.
Platform rail possessed by the utility model, can effectively increase the debugging scope of robot, and horizontal direction is led
Rail can increase robot debugging horizontal moving ranges, and the guide rail of vertical direction can increase robot debugging vertical direction movement
Scope.The debugging platform of the present utility model debugging platform single than traditional function, has abundant function, can be in the platform
On more comprehensive debugging is carried out to robot.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, other spies of the present utility model
Sign, objects and advantages will become more apparent upon：
Fig. 1 is the overall structure diagram of the preferred embodiment of the utility model one；
Fig. 2 is the 4DOF attachment means structural representation of the preferred embodiment of the utility model one；
Fig. 3 is the wire communication mode schematic diagram of the preferred embodiment of the utility model one；
Fig. 4 is the wireless communication mode schematic diagram of the preferred embodiment of the utility model one；
In figure：
Top fixing plate 1, X-axis sliding chute rod 2, X-axis guide rail 3, Y-axis chute 4, Y-axis guide rail 5, hanger bar 6, Z axis fix bar
7,4DOF attachment means 8, bulb joint bearing 9, fixed stopping means 10, it is debugged robot 11, X-axis bearing 12, X-axis
Angular encoder 13, Y-axis bearing 14, Y-axis angular encoder 15, Z axles linear bearing 16, fixed pedestal 17,4DOF connection
Device skeleton 18, inertia measuring module 19, host computer 20, data wire 21, radio station 22.
Embodiment
The utility model is described in detail with reference to specific embodiment.Following examples will be helpful to this area
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that to ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, various modifications and improvements can be made.
These belong to the scope of protection of the utility model.
As shown in figure 1, a kind of robot debugging platform, including：Top fixing plate 1, X-axis sliding chute rod 2, X-axis guide rail 3, Y-axis
Chute 4, Y-axis guide rail 5, hanger bar 6, Z axis fix bar 7,4DOF attachment means 8, bulb joint bearing 9, and fixation are spacing
Device 10；Wherein：
The lower section of top fixing plate 1 is fixed with several X-axis sliding chute rods 2, and it is solid that several X-axis sliding chute rods 2 are arranged at top
The bottom of fixed board 1；X-axis guide rail 3 is two closed slides, and X-axis sliding chute rod 2 is placed in X-axis guide rail 3 and along the water of X-axis guide rail 3
Translation is dynamic, so as to drive top fixing plate 1 to be moved horizontally along X-direction；The both ends of X-axis guide rail 3 are respectively fixed with Y-axis chute 4,
Y-axis chute 4 is symmetricly set in the both ends of two parallel X-axis guide rails 3；Y-axis guide rail 5 is two closed slides, and Y-axis chute 4 is equal
It is placed in Y-axis guide rail 5 and is moved horizontally along Y axis rails 5, so as to drives top fixing plate 1 to be moved horizontally along Y direction；Two
The both ends of bar Y-axis guide rail 5 are separately fixed in hanger bar 6；4DOF attachment means 8 are fixed with top fixing plate 1；Z axis
Fix bar 7 is fixed in 4DOF attachment means 8, the lower section of Z axis fixed plate 7 by bulb joint bearing 9 be connected by
Debugging machine people 11；Z axis fix bar 7 is respectively equipped with fixed stopping means 10 in the upper and lower of 4DOF attachment means 8, fixed
What stopping means 10 was used to limiting Z axis fix bar 7 moves up and down scope.
As shown in Fig. 2 as a preferred embodiment, the 4DOF attachment means 8, including：X-axis bearing 12, X
Axle angular encoder 13, Y-axis bearing 14, Y-axis angular encoder 15, Z axis linear bearing 16, fixed pedestal 17,4DOF connection
Device skeleton 18；Wherein：
The both ends of the X-axis bearing 12 are separately fixed on fixed pedestal 17；The fixed pedestal 17 is fixed on the top
The top of portion's fixed plate 1；The X-axis angular encoder 13 is arranged on one end of X-axis bearing 12；The 4DOF attachment means
Skeleton 18 is fixed on the medium position of X-axis bearing 12；Y-axis bearing 14, Y are fixed with the 4DOF attachment means skeleton 18
Axle angular encoder 15, Z axis linear bearing 16, and Z axis fix bar 7 is passed through in Z axis linear bearing 16.
X-axis bearing 12, X-axis angular encoder 13, Y axle bearings 14 are fixed with the 4DOF attachment means skeleton 18
With Y-axis angular encoder 15, wherein：X-axis bearing 12, Y-axis bearing 14 are used to debug debugged robot 11 in front, rear, left and right
4 direction movements (driving the rotation of X-axis bearing 12, Y-axis bearing 14 by being debugged the displacement of robot)；Simultaneously
The deflection pose of Z axis fix bar 7 is drawn by the measurement of X-axis angular encoder 13 and Y-axis angular encoder 15.
Z axis fix bar 7 is passed through in the Z axis linear bearing 16, Z axis fix bar 7 is fixed in 4DOF attachment means 8,
Debugged robot 11 is fixed in the lower section of Z axis fix bar 7 by bulb joint bearing 9, by Z axis fix bar 7 along Z axis linear bearing
16 directions slide up and down moves so as to debug debugged robot 11 in upper and lower 2 directions.
As a preferred embodiment, the debugged robot 11 can be legged type robot, legged type robot bag
Include：Sufficient formula list robot leg, Zu Shi both legs robot.
As a preferred embodiment, the debugged robot 11 can be manipulator, and manipulator includes：Special machine
Tool hand, Unimate.
As a preferred embodiment, the debugged robot 11 can be unmanned plane, and unmanned plane includes：More rotors
Unmanned plane, fixed-wing unmanned plane.
As a preferred embodiment, the quantity of the X-axis sliding chute rod 2 is no less than two；By increasing the X-axis
The quantity of sliding chute rod 2, the stability and load of the debugging platform can be effectively improved.
As a preferred embodiment, the installation site encoder in the X-axis guide rail 3, position coder is used to survey
Measure the position of top fixing plate 1 in the X-axis direction.
Installation site encoder in the Y-axis guide rail 5, for measuring the position of Y-axis guide rail 5 in the Y-axis direction, Ye Jiding
The position of portion's fixed plate 1 in the Y-axis direction.
Further, the position coder uses magnetic-grid-type position coder, and magnetic-grid-type position coder has precision
It is high, cost is low and the characteristics of being easily installed and use.
As shown in figure 3, as a preferred embodiment, inertia measuring module is installed in the Z axis fix bar 7
19, for measuring the posture of Z axis fix bar 7.
As a preferred embodiment, the robot debugging platform is additionally provided with host computer 20 and participates in debugging, described
Host computer 20 is used to carry out data communication with debugged robot 11；Wherein：
As shown in figure 3, the host computer 20 is communicated with debugged robot 11 by the way of wired, i.e., described host computer
20 are connected by data wire 21 with debugged robot 11, and host computer 20 and debugged robot 11 are realized by data wire 21
Between data communication；
Wirelessly communicated as shown in figure 4, the host computer 20 uses with debugged robot 11, i.e., respectively upper
Radio station 22 is set on machine 20 and debugged robot 11, host computer 20 and debugged machine are realized by radio station 22
Data communication between people 11.
Platform is debugged described in the present embodiment can be such that debugged robot 11 is moved freely in spacing scope, while described
Platform is debugged with the link position of debugged robot 11 depending on debugged 11 specific species of robot, the debugging platform is
Hook wall testing platform, it can greatly reduce the fixed pedestal 17 of 4DOF attachment means to being sensed in debugged robot 11
The interference of device.
When being debugged robot 11 using the debugging platform testing, for debugged robot 11 performance parameter,
The heavy burden for just corresponding in debugged robot 11 add a Z axis fix bar 7 using the debugging platform, other structures exist
During without departing from spacing scope will not power be acted to debugged robot 11.
The debugging platform operationally, Z is drawn by the measurement of X-axis angular encoder 13 and Y-axis angular encoder 15
The deflection pose of axle fix bar 7；The debugging platform automatically controls top fixing plate 1 and moved horizontally along X-axis guide rail 3, and X-axis
Guide rail 3 moves horizontally along Y-axis guide rail 5, so that Z axis fix bar 7 tends to vertical state.
, can be with default X-axis angular encoder 13 and Y-axis angular encoder 15 in other embodiment.Furthermore it is possible to increase
The quantity of X-axis sliding chute rod 2, these can set according to being actually needed, not influenceed for essence of the present utility model.
The autostability energy and exercise performance to robot that the utility model is capable of safe ready are debugged；This practicality
New existing debugging stage+module scheme influence robot sensor, the unmanned plane of solving is in debugging platform up-regulation examination range of movement
The problems such as small；The utility model while protection debugged robot security can also the position of robot measurement in real time believe
Breath.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims,
This has no effect on substantive content of the present utility model.
Claims (10)
1. platform is debugged by a kind of robot, it is characterised in that including：Top fixing plate, X-axis sliding chute rod, X-axis guide rail, Y-axis are slided
Groove, Y-axis guide rail, hanger bar, Z axis fix bar, and 4DOF attachment means；Wherein：
The bottom of the top fixing plate is provided with some X-axis sliding chute rods, and the X-axis sliding chute rod is matched somebody with somebody with the X-axis guide rail
Close, the X-axis sliding chute rod moves horizontally along the X-axis guide rail, so as to realize that the top fixing plate moves along the level of X-direction
It is dynamic；The both ends of the X-axis guide rail are separately installed with a Y-axis chute, and the Y-axis chute coordinates with the Y-axis guide rail, institute
State Y-axis chute to move horizontally along the Y-axis guide rail, so as to realize the top fixing plate moving horizontally along Y direction；It is described
The both ends of Y-axis guide rail are fixed in the hanger bar；The top of the top fixing plate is connected with the 4DOF connection dress
Put；The Z axis fix bar is fixed in the 4DOF attachment means, and bulb joint is provided with below the Z axis fix bar
Bearing is simultaneously connected debugged robot by the bulb joint bearing.
2. a kind of robot debugging platform according to claim 1, it is characterised in that the quantity of the X-axis sliding chute rod is not
Less than two.
3. a kind of robot debugging platform according to claim 1, it is characterised in that be provided with position in the X-axis guide rail
Encoder is put, for measuring the position of top fixing plate in the X-axis direction；The position coder is position encoded using magnetic-grid-type
Device；
The quantity of the X-axis guide rail is two.
4. a kind of robot debugging platform according to claim 1, it is characterised in that be provided with position in the Y-axis guide rail
Put encoder, position coder is used to measuring the position of Y-axis guide rail in the Y-axis direction, i.e., top fixing plate is in the Y-axis direction
Position；
The quantity of the Y-axis guide rail is two.
A kind of 5. robot debugging platform according to claim 1, it is characterised in that the Z axis fix bar described 4 from
Fixed stopping means is respectively arranged with by the upper and lower of degree attachment means, the fixed stopping means is consolidated for limiting the Z axis
Fixed pole moves up and down scope, so that debugged robot moves freely in spacing scope.
6. a kind of robot debugging platform according to claim 5, it is characterised in that also set up in the Z axis fix bar
There is inertia measuring module, inertia measuring module is used for the posture for measuring the Z axis fix bar.
7. a kind of robot debugging platform according to claim 1, it is characterised in that the hanger bar is variable-length
Support frame, the elongation of hanger bar and shortens the height for adjusting Y-axis guide rail, so as to realize to the top fixing plate height
Adjustment.
A kind of 8. robot debugging platform according to claim 1, it is characterised in that the 4DOF attachment means bag
Include：X-axis bearing, X-axis angular encoder, Y-axis bearing, Y-axis angular encoder, Z axis linear bearing, fixed pedestal, and 4 freedom
Spend attachment means skeleton；Wherein：
The fixed pedestal is fixed on the top of the top fixing plate；The both ends of the X-axis bearing are fixed on the fixed base
On seat；The 4DOF attachment means skeleton is fastened on the medium position of the X-axis bearing；The X-axis angular encoder
It is connected and fixed on one end of the X-axis bearing；The Y-axis bearing, the Y are fixed with the 4DOF attachment means skeleton
Axle angular encoder and the Z axis linear bearing, and the Z axis fix bar passes through the Z axis linear bearing；
X-axis bearing, X-axis angular encoder, Y-axis bearing and Y-axis angular coding are fixed with the 4DOF attachment means skeleton
Device, X-axis bearing and Y-axis bearing is driven to rotate by being debugged the displacement of robot, so as to realize that debugging is debugged
Robot is in the movement in 4 directions in front, rear, left and right, while measuring by X-axis angular encoder and Y-axis angular encoder
Go out the deflection pose of Z axis fix bar；Z axis fix bar is passed through in the Z axis linear bearing, Z axis fix bar is in Z axis linear bearing
Move up and down, so as to drive the debugged robot being fixed on by bulb joint bearing below Z axis fix bar to realize 2 up and down
The movement in direction；The link position of the debugging platform and debugged robot is depending on the species of specific debugged robot.
9. a kind of robot debugging platform according to claim any one of 1-8, it is characterised in that the debugging platform is also
The host computer for participating in debugged robot debugging is provided with, cable data is carried out between the host computer and debugged robot and is led to
News or wireless data communication.
10. a kind of robot debugging platform according to claim 9, it is characterised in that the cable data communication, be
Refer to：Host computer with debugged robot by setting data wire to be connected, by data wire realize host computer and debugged robot it
Between cable data communication；
The wireless data communication, refers to：Radio station is set in host computer, debugged robot respectively, passes through radio
Platform realizes the wireless data communication between host computer and debugged robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720454989.2U CN206804310U (en) | 2017-04-27 | 2017-04-27 | Platform is debugged by a kind of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720454989.2U CN206804310U (en) | 2017-04-27 | 2017-04-27 | Platform is debugged by a kind of robot |
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| Publication Number | Publication Date |
|---|---|
| CN206804310U true CN206804310U (en) | 2017-12-26 |
Family
ID=60738459
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| CN201720454989.2U Active CN206804310U (en) | 2017-04-27 | 2017-04-27 | Platform is debugged by a kind of robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106989943A (en) * | 2017-04-27 | 2017-07-28 | 上海交通大学 | Platform is debugged by a kind of robot |
| CN113721649A (en) * | 2021-09-03 | 2021-11-30 | 中国北方车辆研究所 | Virtual leg-based multi-support leg force distribution method for quadruped robot |
| CN114313306A (en) * | 2022-01-24 | 2022-04-12 | 上海工程技术大学 | Rotor manipulator experiment platform |
-
2017
- 2017-04-27 CN CN201720454989.2U patent/CN206804310U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106989943A (en) * | 2017-04-27 | 2017-07-28 | 上海交通大学 | Platform is debugged by a kind of robot |
| CN106989943B (en) * | 2017-04-27 | 2023-08-25 | 上海交通大学 | Robot debugging platform |
| CN113721649A (en) * | 2021-09-03 | 2021-11-30 | 中国北方车辆研究所 | Virtual leg-based multi-support leg force distribution method for quadruped robot |
| CN113721649B (en) * | 2021-09-03 | 2023-06-02 | 中国北方车辆研究所 | Multi-support leg force distribution method for four-foot robot based on virtual legs |
| CN114313306A (en) * | 2022-01-24 | 2022-04-12 | 上海工程技术大学 | Rotor manipulator experiment platform |
| CN114313306B (en) * | 2022-01-24 | 2024-02-27 | 上海工程技术大学 | Rotor manipulator experiment platform |
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