WO2023216544A1 - 微型爬行机器人的传动机构及微型爬行机器人 - Google Patents

微型爬行机器人的传动机构及微型爬行机器人 Download PDF

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Publication number
WO2023216544A1
WO2023216544A1 PCT/CN2022/132609 CN2022132609W WO2023216544A1 WO 2023216544 A1 WO2023216544 A1 WO 2023216544A1 CN 2022132609 W CN2022132609 W CN 2022132609W WO 2023216544 A1 WO2023216544 A1 WO 2023216544A1
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rotating axis
transmission mechanism
rotating
axis
robot
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PCT/CN2022/132609
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English (en)
French (fr)
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刘一得
曲绍兴
陈彦泓
冯博
王东奇
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浙江大学
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Publication of WO2023216544A1 publication Critical patent/WO2023216544A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J7/00—Micromanipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric

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  • the invention relates to a transmission mechanism of a crawling robot and a crawling robot, and mainly relates to a transmission mechanism of a miniature high-mobility intelligent crawling robot.
  • Micro crawling robots refer to crawling robots on the millimeter scale, that is, the characteristic length of the robot body is on the order of several millimeters to tens of millimeters. At present, the crawling method of micro-crawling robots is still similar to inchworm movements. However, due to its small size (such as the size of a coin) and light weight (generally within 10g), the movement mode and design and manufacturing strategies adopted by the robots are different from those of large-scale robots. Robots are different. Large-scale robots such as wheeled robots or legged robots often use motors or hydraulic drives, but for micro-crawling robots, motors and motors are no longer suitable due to their large size. Designers will design corresponding transmission mechanisms based on the driving characteristics of different drives, and then match the corresponding drive systems and control systems.
  • the bodies of some microrobots do not contain devices such as controllers and batteries, so they need to be connected to external devices through cables to provide energy and control signals during work.
  • This state of motion is called tethered motion.
  • Current research has proven that tethered microrobots can achieve high-speed movement (2014-IJRR-High speed locomotion for a quadrupedal microrobot).
  • tethered microrobots always need to be dragged by cables. Unable to achieve large-scale movement function.
  • Maneuverability refers to the movement ability of micro-robots, generally including robot speed, turning agility, etc. The faster the robot's speed and the smaller the turning radius, the higher the robot's maneuverability (Principles of Animal Locomotion). For micro-robots, speed is the most important criterion (2019-ANNUAL REVIEWS-Toward Autonomy in Sub-Gram Terrestrial Robots).
  • micro-crawling robots When designing and manufacturing micro-crawling robots, due to the small size of the parts involved, traditional machining, cutting, stamping, casting, etc. are no longer applicable. Specific processing methods are required to manufacture micro-drives and transmission mechanisms.
  • micro-crawling robots with high automation and mobility is an internationally recognized problem. This is due to the fact that the robot is designed on the millimeter scale and the selection of drives is limited, which brings difficulties to the design and manufacturing of the corresponding transmission mechanism.
  • the microrobot with the best movement performance is HAMR-F launched by Harvard University. The robot can move at a speed of 3.8 times its body length per second. (2018-RAL-Power and Control Autonomy for High-Speed Locomotion With an Insect-Scale Legged Robot, 2019-ANNUAL REVIEWS-Toward Autonomy in Sub-Gram Terrestrial Robots).
  • the present invention provides a transmission mechanism for a small-scale crawling robot that can realize a high-mobility crawling function.
  • the transmission mechanism is a centimeter-scale mechanical structure, which is a parallel mechanism with three branches composed of connecting rods.
  • a transmission mechanism for a micro-crawling robot includes a fixed platform and a moving platform, a constraint branch chain, a first drive branch chain and a second drive branch chain, wherein the constraint branch chain includes a first rotating shaft and a second rotating shaft, The functions of restraining the lifting motion and twisting motion of the dynamic platform are respectively produced; the first driving branch chain and the second driving branch chain each have a driving shaft.
  • the transmission mechanism produces a lifting action.
  • the lifting action and twisting action of the transmission mechanism can be superimposed, that is, the synchronous component of the action of the two drive branch chains will cause the transmission mechanism to lift, and the asynchronous component of the two drive branch chains will Causes the transmission mechanism to twist, so the robot can move forward and turn at the same time.
  • the first driving branch chain and the second driving branch chain each include five rotating shafts.
  • the first driving branch chain it includes the third rotating axis to the seventh rotating axis, where:
  • the third rotating shaft is on the fixed platform, parallel to the first rotating shaft, and serves as the driving rotating shaft;
  • the fourth rotating axis is parallel to the first rotating axis, and is connected to the third rotating axis through a connecting rod;
  • the fifth rotating axis is parallel to the first rotating axis, and is connected to the fourth rotating axis through a connecting rod;
  • the sixth rotating axis is parallel to the second rotating axis, and is connected to the fifth rotating axis through a connecting rod;
  • the seventh rotating axis is on the moving platform, parallel to the second rotating axis, and connected to the sixth rotating axis through a connecting rod;
  • the second driving branch chain it includes the eighth rotating axis to the twelfth rotating axis, where:
  • the eighth rotating shaft is on the fixed platform, parallel to the first rotating shaft, and serves as the driving rotating shaft;
  • the ninth rotating axis is parallel to the first rotating axis, and is connected to the eighth rotating axis through a connecting rod;
  • the tenth rotating axis is parallel to the first rotating axis, and is connected to the ninth rotating axis through a connecting rod;
  • the eleventh rotating axis is parallel to the second rotating axis, and is connected to the tenth rotating axis through a connecting rod;
  • the twelfth rotating axis is on the moving platform, is parallel to the second rotating axis, and is connected to the eleventh rotating axis through a connecting rod.
  • the first rotating axis is on the fixed platform; the second rotating axis is on the movable platform, is orthogonal to the first rotating axis, and is fixed to the first rotating axis through a connecting rod.
  • the motion screw system of the transmission mechanism motion platform contains two screws, so the degree of freedom is two.
  • the motion spinor system composed of the constrained branch chain is:
  • S 11 is the motion screw corresponding to the screw axis constraining the first rotation axis of the branch chain
  • S 12 is the motion screw corresponding to the screw axis constraining the second rotation axis of the branch chain
  • L 11 is the deputy of the motion screw S 11
  • the component of the part in the Z direction, c ⁇ , s ⁇ respectively represent the abbreviation of cos( ⁇ ), sin( ⁇ ) function
  • ⁇ is the link between the first rotation axis S 11 and the second rotation axis S 12 in the constrained branch chain around the An angle of rotation of the axis S 11 .
  • the constrained spinor system composed of constrained branch chains can be expressed as:
  • the motion screw system composed of two driving branches is:
  • the constrained spinor system composed of two driving branches can be expressed as:
  • the present invention provides a miniature high-mobility crawling robot that can achieve high-speed movement in an untethered state.
  • the crawling robot includes a driver, a power supply, a control module for controlling the forward and turning actions of the robot, a communication module for communicating with other mechanisms and transmitting control instructions of the robot, and a transmission mechanism for performing lifting or twisting actions.
  • the transmission mechanism is a three-branch two-degree-of-freedom parallel mechanism.
  • the transmission mechanism includes a fixed platform located in the lower half of the robot and a moving platform located in the upper half of the robot.
  • the moving platform includes two driving branches and a constraining branch. Each of the two driving branches has A driving shaft is fixed on the fixed platform through a support rod.
  • the transmission mechanism When the movement of the driving shafts of the two driving branches is synchronized, the transmission mechanism produces a lifting action, causing the robot to move forward; when the movement of the driving shafts of the two driving branches When out of synchronization, the transmission mechanism produces a twisting action, causing the robot to turn.
  • the axes of movement of the lifting action and twisting action are orthogonal.
  • the lifting action and twisting action of the transmission mechanism can be superimposed, that is, the synchronous component of the action of the two drive branch chains will cause the transmission mechanism to lift, and the asynchronous component of the two drive branch chains will Causes the transmission mechanism to twist, so the robot can move forward and turn at the same time.
  • the overall size of the miniature high-mobility intelligent crawling robot ranges from 10 mm to 100 mm.
  • the transmission mechanism consists exclusively of rigid composite materials and flexible polymers.
  • the rigid material of the transmission mechanism is selected from carbon fiber, stainless steel, and wood
  • the flexible material of the transmission mechanism is selected from polyimide film, polyethylene film, etc.
  • the rigid material is carbon fiber.
  • the flexible material is polyimide film.
  • the present invention is not limited to the materials listed.
  • the driver is a ceramic driver.
  • the driver is a piezoelectric ceramic driver, which utilizes the inverse piezoelectric effect of piezoelectric ceramics as a power source.
  • the present invention also provides a robot cluster, which includes any form of micro-crawling robot as mentioned above.
  • the piezoelectric ceramic actuator is composed of a piezoelectric ceramic sheet and an insulating elastic sheet stacked together.
  • the applied electric field of the force-electric coupling effect involved in the piezoelectric ceramic actuator is 200V.
  • the piezoelectric material of the actuator may be an electroactive soft material such as a single crystal piezoelectric ceramic or a polycrystalline piezoelectric ceramic, a shape memory alloy, a shape memory polymer, or a dielectric elastomer.
  • polycrystalline piezoelectric ceramics with a thickness of 127 ⁇ m are used.
  • PZT-5H type polycrystalline piezoelectric ceramics are selected to obtain the best driving effect, but the present invention is not limited to the materials listed above.
  • the micro crawling robot uses a two-degree-of-freedom parallel mechanism with three branches as a transmission mechanism to convert the shape change of the piezoelectric ceramic actuator into the crawling power of the robot.
  • the transmission mechanism as a parallel mechanism, uses the lever principle to amplify and convert the tiny deformation of the micro driver into the lifting and twisting actions of the transmission mechanism.
  • the transmission mechanism lifts the upper half of the robot and moves it forward through a lifting action, thereby realizing the forward movement of the robot; the transmission mechanism moves the upper half of the robot forward through a twisting action.
  • the direction of forward movement is reversed to realize the robot's turning action.
  • the micro crawling robot utilizes the transmission mechanism according to the present invention to achieve tetherless movement.
  • the micro-robot system according to the present invention adopts efficient transmission mechanism design, lightweight transmission mechanism manufacturing and high-performance piezoelectric ceramic driver, so that the robot has extremely high movement ability and can carry the battery and energy required to drive itself.
  • Electronic components enable high-speed autonomous movement without tethering.
  • a tiny high-frequency swing is generated through the electromechanical coupling effect of a high-performance piezoelectric ceramic actuator.
  • This swing is amplified by a micro transmission mechanism, driving the robot to achieve high-speed crawling forward and turning movements.
  • the piezoelectric ceramic actuator contains two ceramic stacks. When the two ceramic stacks swing in the same direction, the robot moves forward, and when the two ceramic stacks swing in opposite directions, the robot turns.
  • the inventor proposed for the first time a two-degree-of-freedom micro-parallel mechanism as the transmission mechanism of the micro-robot.
  • the miniature two-degree-of-freedom parallel transmission mechanism according to the present invention has the characteristics of tiny structure and good transmission performance.
  • the micro-crawling robot according to the present invention can independently perform lifting (forward power) and twisting (turning power) when moving forward and turning.
  • the micro crawling robot according to the present invention has fast movement speed, light weight and low manufacturing cost.
  • the micro crawling robot according to the present invention uses piezoelectric ceramic material as the driver material, and uses the inverse piezoelectric effect of the piezoelectric ceramic as the power source to manufacture the driver with a wide operating frequency range and can be adjusted, so that the speed of the micro crawling robot can be fast or slow. , suitable for different application scenarios.
  • the micro crawling robot according to the present invention uses a micro parallel mechanism of flexible rotating shafts as a transmission mechanism, which greatly reduces the mass of the robot and simultaneously improves the transmission efficiency and flexibility of the robot.
  • the combination of the driver and the transmission mechanism of the micro crawling robot according to the present invention has extremely high working efficiency, which greatly improves the battery life of the same size.
  • the micro crawling robot according to the present invention adopts an intelligent integrated design solution, so that the crawling robot itself carries a driver, transmission mechanism, controller, power supply and communication equipment. During operation, it does not require external power supply and communication with the outside world, and can operate in the environment. Achieve free crawling.
  • the micro crawling robot according to the present invention has the advantages of small size, high integration, strong maneuverability and intelligence.
  • the overall size of the micro crawling robot according to the present invention is 10mm to 100mm, the characteristic length is 4.1cm, the maximum average speed is 27.3cm/s, the relative speed reaches 6.6 times the body length per second, the turning radius is 1.7cm, and it can realize untethered movement. Breaking through the limitations of existing technology, it is the first time that a micro-crawling robot of similar size can reach a movement speed of more than 5 times its body length per second in an untethered movement state. This is a major technological innovation in the field of micro-crawling robots.
  • Figure 1 shows an equivalent schematic diagram of the transmission mechanism according to the present invention
  • (b) shows a mechanical design diagram of the transmission mechanism according to the present invention
  • (c) shows the overall mechanical structure of the transmission mechanism according to the present invention picture.
  • S 11 -S 35 represent the rotating shafts of the parallel mechanism.
  • Figure 2 A process flow diagram illustrating the process of obtaining a complete micro transmission mechanism by laser engraving patterns.
  • Figure 3 Shows the closed chain installation process diagram of the transmission mechanism. Among them (a) flip the flat structure to the back; (b) splice the connecting rods using the groove structure to form a closed chain; (c) apply glue to the mechanical connection to fix it.
  • Figure 4 A diagram showing the driver assembly process of the micro crawler robot according to the present invention. Among them (a) connect the tail of the driver to the side plate of the transmission mechanism. (b) Connect the driver head to the connecting rod of the transmission mechanism.
  • Figure 5 shows the movement principle diagram of the micro crawling robot according to the present invention. Among them (a) the synchronous action of the piezoelectric ceramic drive causes the transmission mechanism to lift; (b) the asynchronous action of the piezoelectric ceramic drive causes the transmission mechanism to twist.
  • Figure 6 An actual product diagram showing a micro-crawling robot according to the present invention.
  • the moving platform 2 of the parallel mechanism is connected to the fixed platform 1 of the parallel mechanism in a fixed manner.
  • the third rotating shaft S 21 and the eighth rotating shaft S 31 on the moving platform 2 can be rotated in sequence.
  • the first rotating shaft S 11 is rotatably connected to the inside of the frame 3, and the first rotating shaft S 11 is rotatably connected to the outside of the actual fixed platform 3.
  • the relative positional relationship between the rotating shafts is:
  • the first rotating shaft S 11 is on the fixed platform
  • the second rotating axis S 12 is on the moving platform, is perpendicular to the first rotating axis S 11 and is connected through a connecting rod;
  • the third rotating shaft S 21 is on the fixed platform, parallel to the first rotating shaft S 11 , and serves as the driving rotating shaft;
  • the fourth rotating axis S 22 is parallel to the first rotating axis S 11 and is connected to the third rotating axis S 21 through a connecting rod;
  • the fifth rotating axis S 23 is parallel to the first rotating axis S 11 and connected to the fourth rotating axis S 22 through a connecting rod;
  • the sixth rotating axis S 24 is parallel to the second rotating axis S 12 and is connected to the fifth rotating axis S 23 through a connecting rod;
  • the seventh rotating axis S 25 is on the moving platform, is parallel to the second rotating axis S 12 , and is connected to the sixth rotating axis S 24 through a connecting rod;
  • the eighth rotating axis S 31 is on the fixed platform, parallel to the first rotating axis S 11 , and serves as the driving rotating axis;
  • the ninth rotating axis S 32 is parallel to the first rotating axis S 11 and is connected to the eighth rotating axis S 31 through a connecting rod;
  • the tenth rotating axis S 33 is parallel to the first rotating axis S 11 and is connected to the ninth rotating axis S 32 through a connecting rod;
  • the eleventh rotating axis S 34 is parallel to the second rotating axis S 12 and connected to the tenth rotating axis S 33 through a connecting rod;
  • the twelfth rotating axis S 35 is on the moving platform, is parallel to the second rotating axis S 12 , and is connected to the eleventh rotating axis S 34 through a connecting rod.
  • two crank slider connecting rods 5 are added to connect the piezoelectric ceramic driver and the drive of the parallel mechanism. branch chain; and four side plates 6, used to install components such as the robot's power driver and controller.
  • the laser processing and hot pressing process shown in Figure 2 involves carbon fiber sheet 31, adhesive film 32, and polyimide film 33. The entire process is divided into 6 stages, involving a total of three stacks. Stage 1 - laser processing of each layer of material and hot pressing to form stack No. 1. Stage 2 - Each layer of material is laser processed and hot pressed to form stack number two. Stage 3 - Laser processing of stack number one after hot pressing in Stage 1. Stage 4 - Laser processing of stack number two after hot pressing in Stage 1. Stage 5 - Heat pressing stack number one and stack number two to form stack number three. Stage 6 - Laser processing of the No. 3 stack to form the transmission mechanism. The resulting transmission mechanism has high maneuverability and can realize the forward movement and turning movement of the crawling robot.
  • This mechanism contains a total of three branch chains, two of which are driving branch chains, two driving branch chains are similar, and the remaining one is a constraint branch chain.
  • the motion spinor system formed by it is:
  • S 11 is the motion screw corresponding to the screw axis constraining the first rotation axis of the branch chain
  • S 12 is the motion screw corresponding to the screw axis constraining the second rotation axis of the branch chain
  • L 11 is the deputy of the motion screw S 11
  • the component of the part in the Z direction, c ⁇ , s ⁇ respectively represent the abbreviation of cos( ⁇ ), sin( ⁇ ) function, ⁇ constrains the connecting rod between the first axis S 11 and the second axis S 12 in the branch chain around the first The angle of rotation of axis S 11 .
  • the constrained spinor system composed of constrained branch chains can be expressed as:
  • the first to fifth motion screws, q 2 , r 2 , q 3 , r 3 , p 4 , q 4 , r 4 , p 5 , q 5 , r 5 are the secondary parts of the motion spinors in X , Y, and Z components in the three directions, where p, q, and r correspond to the three directions of X, Y, and Z respectively.
  • the constrained spinor system of the motion platform is the union of all branch-chain constrained spinor systems, and the motion screw system is the intersection of all branch-chain motion spinor systems. Therefore, the motion screw system of the motion platform can be Expressed as:
  • S 11 is the motion screw corresponding to the screw axis of the fourth rotation axis of the branch chain
  • S 12 is the motion screw corresponding to the screw axis of the fifth rotation axis of the branch chain
  • L 11 is the deputy of the motion screw S 11 .
  • the component of the part in the Z direction, c ⁇ , s ⁇ respectively represent the abbreviation of cos( ⁇ ), sin( ⁇ ) function
  • ⁇ is the link between the first rotation axis S 11 and the second rotation axis S 12 in the constrained branch chain around the An angle of rotation of the axis S 11 .
  • the robot in addition to the transmission mechanism, also includes a controller 12, a driver 13 and a battery 14 installed on the side plate.
  • the driving shafts S 21 and S 31 drive the connecting rod to lift upwards under the action of the rotating shaft S 12.
  • the transmission mechanism performs a lifting action
  • the upper half of the robot lifts relative to the lower half. This enables the crawling robot to move forward relative to the ground.
  • the transmission mechanism performs a twisting action
  • the upper half of the robot turns relative to the lower half, thereby realizing the turning movement of the crawling robot relative to the ground.
  • a miniature high-mobility intelligent crawling robot including a piezoelectric ceramic driver, transmission mechanism, battery and controller.
  • the crawling robot is 41mm in length and 18mm in width, and its overall size is similar to a coin.
  • the piezoelectric ceramic driver is composed of four piezoelectric ceramic sheets and one carbon fiber sheet.
  • the piezoelectric ceramic material is polycrystalline piezoelectric ceramics with the brand name PZT-5H.
  • the positive and negative surfaces of the piezoelectric ceramic sheets are coated with nickel alloy. electrode.
  • Four pieces of piezoelectric ceramics are distributed in two, with the carbon fiber pieces sandwiched in the middle.
  • the nickel alloy electrode on the surface of the piezoelectric ceramic actuator is led out through the copper foil, and the nickel-titanium alloy electrode and the copper foil are connected through epoxy conductive glue to achieve electrical conduction.
  • the transmission mechanism is a miniature two-degree-of-freedom parallel mechanism using flexible hinges. Its materials are carbon fiber sheets, adhesive films and polyimide films, and the processing methods are laser processing and hot pressing.
  • the laser is used to engrave corresponding patterns on the above-mentioned carbon fiber sheets, adhesive films and polyimide film materials, and the materials are bonded together in order. After repeating several times, a miniature connecting rod structure is obtained. By connecting specific parts of the structure together, a complete micro-drive mechanism can be obtained.
  • the power of the miniature high-mobility intelligent crawling robot is provided by a piezoelectric ceramic driver, which is transmitted by the transmission mechanism and converted into a lifting motion or a twisting motion of the crawling robot body, thereby realizing the forward and turning movements of the crawling robot.
  • the piezoelectric ceramic actuator can produce swing deformation with an amplitude of micron level under AC voltage, and this swing motion is converted into a larger rotation by the transmission mechanism.
  • the driving voltage applied to the piezoelectric ceramic actuator is 250V
  • the amplitude of the swing deformation produced by the piezoelectric ceramic actuator is 400 ⁇ m.
  • the actuator swing is 400 ⁇ m. Make the transmission mechanism rotate 30 degrees.
  • connection point 7 The installation process of the micro-transmission mechanism is shown in Figure 3. First, turn over the laser-processed transmission mechanism, and fasten the two designed connection points 5 and 6 on the transmission mechanism to realize the closed-loop process of the structure. Fix it with glue. Connection point 7.
  • the assembly process of the miniature high-mobility intelligent crawling robot is shown in Figure 4. First, insert the tail of the piezoelectric ceramic driver 8 into the two mounting holes on the side plate of the transmission mechanism, and then insert the two input ends of the transmission mechanism 9 into the pressure. On the front end of the electric ceramic driver, the above-mentioned four mounting points are all fixed with glue.
  • the piezoelectric ceramic actuator has two ceramic stack structures (10-left ceramic stack, 11-right ceramic stack). These two ceramic stacks can produce independent Actions. When the movements of the two ceramic stacks are synchronized, the transmission mechanism can produce a lifting movement, and the robot will move forward; when the movements of the two ceramic stacks are out of sync, the transmission mechanism can produce a twisting movement, and the robot will turn. When two ceramic stacks are driven simultaneously, the synchronous component of the two ceramic stacks will cause a lifting action of the transmission mechanism, and the asynchronous component of the action of the two ceramic stacks will cause a twisting action of the transmission mechanism. For transmission mechanisms, lifting and twisting actions can be superimposed.
  • the mass of the piezoelectric ceramic actuator produced was 280 mg
  • the mass of the micro transmission mechanism was 800 mg
  • the mass of the finally assembled micro high-mobility intelligent crawling robot was 4.34 g.
  • the robot was placed on a horizontal platform, different voltages were applied to both ends of the piezoelectric ceramic driver, a camera was used to record the turning process of the robot at a certain time, and the turning radius of the robot was calculated.
  • the driving signal is 30Hz and 60Hz on the right side
  • the robot's turning radius is 1.7cm, reflecting extremely high maneuverability.

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Abstract

本申请提供一种微型爬行机器人的传动机构及微型爬行机器人，传动机构是具有三个支链两个自由度的并联机构，包括定平台和动平台，约束支链，第一驱动支链和第二驱动支链，其中约束支链包括第一转轴S 11和第二转轴S 12，分别产生约束动平台抬升运动和扭转运动的功能；第一驱动支链包含第三至第七转轴S 21-S 25，其中第三转轴S 21为驱动转轴，其余均为传动转轴；第二驱动支链包含第八至第十二转轴S 31-S 35，其中第八转轴S 31为驱动转轴，其余均为传动转轴，当第三转轴S 21和第八转轴S 31的运动同步时，传动机构的动平台相对于定平台产生抬升动作，允许爬行机器人前进；当第三转轴S 21和第八转轴S 31的运动不同步时，传动机构的动平台相对于定平台产生扭转动作，允许爬行机器人转弯，其中抬升动作和扭转动作的运动轴线是正交的。

Description

微型爬行机器人的传动机构及微型爬行机器人 技术领域
本发明涉及一种爬行机器人的传动机构及爬行机器人，主要涉及一种微型高机动性智能爬行机器人的传动机构。
背景技术
微型爬行机器人是指在毫米尺度的爬行机器人，即机器人机体的特征长度在几个毫米到几十毫米级别。目前，微型爬行机器人的爬行方式依然是类似尺蠖的运动，但是由于其体积小(如硬币大小)，质量轻(质量一般在10g以内)，因此机器人所采用的运动模式和设计制造策略与大尺度机器人不同。大尺度的机器人如轮式机器人或腿足式机器人往往采用电机或液压驱动，但是对于微型爬行机器人而言，电机和马达由于体积过大变得不再适用。设计者会根据不同驱动器的驱动特性设计对应的传动机构，再配套相应的驱动***和控制***。
一些微型机器人的机体不包含控制器和电池等装置，因此在工作过程中需要通过线缆连接到外部装置以提供能源和控制信号，这种运动状态称为系留式(tethered)运动。目前研究已经证明，系留状态的微型机器人可以实现高速运动(2014-IJRR-High speed locomotion for a quadrupedal microrobot)，但是在实际使用过程中，系留状态的微型机器人始终需要被线缆拖拽，不能实现大范围移动功能。针对洞穴探测、外星探索等任务，需要设计可以背负电源和控制器的无系留式(untethered)微型机器人(2019-ANNUAL REVIEWS-Toward Autonomy in Sub-Gram Terrestrial Robots)。
机动性(maneuverability)是指微型机器人的运动能力，一般包括机器人速度，转弯的敏捷程度等等。机器人的速度越快，转弯半径越小，则认为机器人的机动性越高(Principles of Animal Locomotion)。对于微型机器人，速度是最重要的衡量标准(2019-ANNUAL REVIEWS-Toward Autonomy in Sub-Gram Terrestrial Robots)。
在设计和制造微型爬行机器人时，由于所涉及的零件体积小，传统的机加工、切割、冲压、铸造等方式不再适用，需要采用特定的加工方式制造微型驱动器和传动机构。
然而，对微型爬行机器人特定的运动方式而言，设计高效且灵活的传动机构是困难的。因为传动效率最高的机构往往是并联机构，而少自由度并联机构设计是机构学领域内公开的难题。对于这类机构的设计，需要使用复杂的理论工具(Z.Huang and Q.C.Li,“General Methodology for Type Synthesis of Symmetrical Lower-Mobility Parallel Manipulators and Several Novel Manipulators,”The International Journal of Robotics Research,vol.21,no.2,pp.131–145, Feb.2002,doi:10.1177/027836402760475342.)。
高自动化程度、高机动性的微型爬行机器人的设计是国际公认的难题。这是由于在毫米尺度上设计机器人，驱动器的选择受到限制，为相应的传动机构设计和制造带来困难。目前尚没有微型爬行机器人可以在无系留的运动状态下实现5倍以上体长每秒的运动速度。目前运动性能最好的微型机器人是哈佛大学推出的HAMR-F，该机器人的移动速度是3.8倍体长每秒。(2018-RAL-Power and Control Autonomy for High-Speed Locomotion With an Insect-Scale Legged Robot，2019-ANNUAL REVIEWS-Toward Autonomy in Sub-Gram Terrestrial Robots)。
小尺度爬行机器人难以设计高效的传动机构，导致机器人的速度较慢，转弯能力较弱，机动性较差，严重阻碍了爬行机器人在更广泛领域的应用。
发明内容
针对现有技术的不足，本发明在一个方面提供一种能够实现高机动性爬行功能的小尺度爬行机器人用传动机构。
参照并引用旋量理论原理(Huang Z,Li QC.General Methodology for Type Synthesis of Symmetrical Lower-Mobility Parallel Manipulators and Several Novel Manipulators.The International Journal of Robotics Research.2002；21(2):131-145.)，但不局限于此，本发明人首次提出二自由度微型并联机构作为可用于微型爬行机器人的传动机构，满足高自动化程度和高机动性的需求。
根据本发明的优选的实施方案，传动机构是厘米尺度的机械结构，其是由连杆组成的具有三个支链的并联机构。具体地，一种微型爬行机器人用传动机构，包括定平台和动平台，约束支链，第一驱动支链和第二驱动支链，其中所述约束支链包括第一转轴和第二转轴，分别产生约束动平台抬升运动和扭转运动的功能；第一驱动支链和第二驱动支链各自具有一驱动转轴，当两个驱动支链的驱动转轴的运动同步时，传动机构产生抬升动作，造成机器人前进；当两个驱动支链的驱动转轴的运动不同步时，传动机构产生扭转动作，造成机器人转弯，其中抬升动作和扭转动作的运动轴线是正交的。根据本发明，并联与平行可互换使用。
根据本发明的优选的实施方案，所述传动机构的抬升动作和扭转动作是可以叠加的，即两个驱动支链的动作的同步分量会导致传动机构抬升，两个驱动支链的异步分量会导致传动机构扭转，因此机器人的前进和转弯可以同时进行。
根据本发明的优选方案，第一驱动支链和第二驱动支链分别包含五个转轴。
对于第一驱动支链，包含第三转轴到第七转轴，其中：
第三转轴在定平台上，和第一转轴平行，作为驱动转轴；
第四转轴和第一转轴平行，和第三转轴通过连杆连接；
第五转轴和第一转轴平行，和第四转轴通过连杆连接；
第六转轴和第二转轴平行，和第五转轴通过连杆连接；
第七转轴在动平台上，和第二转轴平行，和第六转轴通过连杆连接；
对于第二驱动支链，包含第八转轴到第十二转轴，其中：
第八转轴在定平台上，和第一转轴平行，作为驱动转轴；
第九转轴和第一转轴平行，和第八转轴通过连杆连接；
第十转轴和第一转轴平行，和第九转轴通过连杆连接；
第十一转轴和第二转轴平行，和第十通过连杆连接；
第十二转轴在动平台上，和第二转轴平行，和第十一转轴通过连杆连接。
根据本发明的优选的实施方案，第一转轴在定平台上；第二转轴在动平台上，和第一转轴正交，且和第一转轴通过连杆固定。
进一步地，传动机构运动平台的运动旋量系包含两个旋量，因而自由度为二。
根据本发明的优选的实施方案，约束支链所构成的运动旋量系为：
Figure PCTCN2022132609-appb-000001
其中S 11是约束支链的第一转轴的螺旋轴所对应的运动旋量，S 12是约束支链第二转轴的螺旋轴所对应的运动旋量，L 11是运动旋量S 11的副部在Z方向上的分量，cθ,sθ分别表示cos(θ),sin(θ)函数的缩写，θ是约束支链中第一转轴S 11和第二转轴S 12之间的连杆围绕第一转轴S 11旋转的角度。
因此，约束支链所构成的约束旋量系可以表示为：
Figure PCTCN2022132609-appb-000002
其中
Figure PCTCN2022132609-appb-000003
是第一至第四约束旋力旋量。
两个驱动支链所构成的运动旋量系为：
Figure PCTCN2022132609-appb-000004
其中
Figure PCTCN2022132609-appb-000005
为驱动支链的运动旋量系，S i1,S i2,S i3,S i4,S i5，(i＝2、3)，是运动旋量系
Figure PCTCN2022132609-appb-000006
的第一至第五运动旋量，q 2,r 2,q 3,r 3,p 4,q 4,r 4,p 5,q 5,r 5为所述运动旋量的 副部在X、Y、Z三个方向上的分量，其中p,q,r分别对应X、Y、Z三个方向。因此，两个驱动支链所构成的约束旋量系可以表示为：
Figure PCTCN2022132609-appb-000007
其中
Figure PCTCN2022132609-appb-000008
为驱动支链的约束旋量系，
Figure PCTCN2022132609-appb-000009
为驱动支链的约束旋量系的唯一约束力旋量。
因此，运动平台的运动旋量系可以表示为：
Figure PCTCN2022132609-appb-000010
在另一方面，本发明提供一种微型高机动性爬行机器人，其能够实现无系留状态下的高速运动。所述爬行机器人包括驱动器，电源，用于控制机器人的前进和转弯动作的控制模块，用于与其他机构进行通讯、传递机器人的控制指令的通讯模块以及执行抬升或扭转动作的传动机构。所述传动机构是三支链二自由度并联机构。所述传动机构包括位于机器人的下半部的定平台和位于机器人的上半部的动平台，所述动平台包括两个驱动支链和一个约束支链，所述两个驱动支链各自具有一个驱动转轴，分别通过支杆固定在定平台上，当两个驱动支链的驱动转轴的运动同步时，传动机构产生抬升的动作，造成机器人前进；当两个驱动支链的驱动转轴的运动不同步时，传动机构产生扭转的动作，造成机器人转弯，其中抬升动作和扭转动作的运动轴线是正交的。
根据本发明的优选的实施方案，所述传动机构的抬升动作和扭转动作是可以叠加的，即两个驱动支链的动作的同步分量会导致传动机构抬升，两个驱动支链的异步分量会导致传动机构扭转，因此机器人的前进和转弯可以同时进行。
根据本发明的优选的实施方案，微型高机动性智能爬行机器人的整机尺寸在10mm到100mm。
根据本发明的优选的实施方案，传动机构仅由刚性复合材料和柔性聚合物组成。根据本发明的优选的实施方案，传动机构的刚性材料选自碳纤维，不锈钢，木，传动机构的柔性材料选自聚酰亚胺薄膜，聚乙烯薄膜等。优选地，刚性材料采用碳纤维。优选地，柔性材料采用聚酰亚胺薄膜。但本发明并不限于所列举的材料。
根据本发明的优选的实施方案，驱动器是陶瓷驱动器。优选地，驱动器是压电陶瓷驱动器，其利用压电陶瓷的逆压电效应作为动力来源。
本发明还提供一种机器人集群，所述机器人集群包括如前所述任何一种形式的微型爬行机器人。
根据本发明的优选的实施方案，压电陶瓷驱动器是由压电陶瓷片和绝缘的弹性片材叠加 组成，该压电陶瓷驱动器所涉及的力电耦合效应的外加电场为200V。优选地，驱动器的压电材料可以是单晶型压电陶瓷或多晶型压电陶瓷或形状记忆合金或形状记忆聚合物或者介电弹性体等电活性软材料。优选地，使用127μm厚度的多晶型压电陶瓷，优选地，选择PZT-5H型多晶型压电陶瓷可获得最佳的驱动效果，但本发明不限于以上列举材料。
根据本发明的微型爬行机器人采用具有三个支链的二自由度并联机构作为传动机构，将压电陶瓷驱动器的形状变化转换成机器人的爬行动力。具体地，传动机构作为一种并联机构，利用杠杆原理将微型驱动器的微小变形放大并转换成传动机构的抬升和扭转的动作。当机器人在地面上爬行时候，传动机构通过抬升动作，将机器人的上半部抬起并向前挪动，从而实现机器人的前进动作；传动机构通过扭转动作，在机器人的上半部向前挪动的同时扭转前进的方向，从而实现机器人的转弯动作。微型爬行机器人利用根据本发明的传动机构实现无系留的运动。
根据本发明的微型机器人***通过高效的传动机构设计，轻量化的传动机构制造和所搭载的高性能压电陶瓷驱动器，使得该机器人具有极高的运动能力，可以背负驱动自身所需要的电池和电子元器件，实现无系留状态下的高速自主运动。具体地，通过高性能压电陶瓷驱动器的力电耦合效应产生一个微小的高频摆动，这个摆动被微型传动机构放大，驱动机器人实现高速爬行前进和转弯动作。压电陶瓷驱动器包含两个陶瓷堆叠，当两个陶瓷堆叠同向摆动时机器人前进，当两个陶瓷堆叠反向摆动时机器人转弯。
本发明的有益效果至少包括：
本发明人首次提出二自由度微型并联机构作为微型机器人的传动机构。根据本发明的微型二自由度并联传动机构具有结构精巧，传动性能好的特点。
根据本发明的微型爬行机器人第一次实现独立的在前进和转弯的时候进行抬升(前进的动力)和扭转(转弯的动力)。
根据本发明的微型爬行机器人运动速度快、质量轻、制造成本低。根据本发明的微型爬行机器人采用压电陶瓷材料作为驱动器材料，利用压电陶瓷的逆压电效应作为动力来源制造的驱动器工作频率范围广且可以调节，使得该微型爬行机器人的速度可快可慢，适用于不同的应用场景。
根据本发明的微型爬行机器人采用柔性转轴的微型并联机构作为传动机构，极大的减轻了机器人的质量，同时提高了机器人的传动效率和灵活度。
根据本发明的微型爬行机器人的驱动器和传动机构的组合具有极高的工作效率，大大提高了同等尺寸下电池的续航时间。
根据本发明的微型爬行机器人采用智能的集成化的设计方案，使爬行机器人自身携带驱 动器，传动机构，控制器、电源和通信设备，运行过程中不需要外部供电和与外界通信，可以在环境中实现自由爬行。
根据本发明的微型爬行机器人具有体积小、集成度高、机动性强、智能的优点。根据本发明的微型爬行机器人整机尺寸在10mm到100mm，特征长度4.1cm，最高平均速度27.3cm/s，相对速度达到6.6倍体长每秒，转弯半径1.7cm，可以实现无系留运动。突破了现有技术的限制，首次实现了相近尺寸的微型爬行机器人在无系留的运动状态下达到5倍以上体长每秒的运动速度，是微型爬行机器人领域的一次重大技术创新。
附图说明
图1：(a)示出根据本发明的传动机构的等效原理图；(b)示出根据本发明的传动机构的机械设计图；(c)示出本发明的传动机构的整体机械机构图。其中，1-定平台，2-动平台，3-实物中定平台，4-实物中动平台，5-用于连接压电陶瓷驱动器的曲柄滑块连杆，6-用于安装控制***和电池的侧板。S 11-S 35表示并联机构的转轴。
图2：示出通过激光雕刻图案获得完整的微型传动机构的工艺流程图。
图3：示出传动机构闭链安装过程图。其中(a)将平铺的结构翻转到背面；(b)将连杆利用凹槽结构拼接形成闭链；(c)在机械连接处施加胶水固定。
图4：示出根据本发明的微型爬行机器人的驱动器装配过程图。其中(a)将驱动器的尾部连接在传动机构侧板上。(b)将驱动器头部连接在传动机构的连杆上。
图5：示出根据本发明的微型爬行机器人的运动原理图。其中(a)压电陶瓷驱动的同步动作导致传动机构的抬升；(b)压电陶瓷驱动的异步动作导致传动机构的扭转。
图6：示出根据本发明的微型爬行机器人的实际产品示图。
具体实施方式
根据本发明的微型三支链二自由度并联传动机构的等效原理如图1所示。
在图1(a)传动机构的理论模型中，并联机构的动平台2通过固定的方式与并联机构的定平台1连接，动平台2上的第三转轴S 21、第八转轴S 31依次可转动的连接在框架3的内侧，第一转轴S 11可转动的连接在实物中定平台3的外侧，转轴之间的相对位置关系为：
第一转轴S 11在定平台上；
第二转轴S 12在动平台上，和第一转轴S 11垂直且通过连杆连接；
第三转轴S 21在定平台上，和第一转轴S 11平行，作为驱动转轴；
第四转轴S 22和第一转轴S 11平行，和第三转轴S 21通过连杆连接；
第五转轴S 23和第一转轴S 11平行，和第四转轴S 22通过连杆连接；
第六转轴S 24和第二转轴S 12平行，和第五转轴S 23通过连杆连接；
第七转轴S 25在动平台上，和第二转轴S 12平行，和第六转轴S 24通过连杆连接；
第八转轴S 31在定平台上，和第一转轴S 11平行，作为驱动转轴；
第九转轴S 32和第一转轴S 11平行，和第八转轴S 31通过连杆连接；
第十转轴S 33和第一转轴S 11平行，和第九转轴S 32通过连杆连接；
第十一转轴S 34和第二转轴S 12平行，和第十转轴S 33通过连杆连接；
第十二转轴S 35在动平台上，和第二转轴S 12平行，和第十一转轴S 34通过连杆连接。
图1(c)机器人整体结构的机械设计模型和图1(b)传动机构的机械设计模型相比，增加了两个曲柄滑块连杆5，用于连接压电陶瓷驱动器和并联机构的驱动支链；以及四块侧板6，用于安装机器人的电源驱动器和控制器等部件。
如图2所示的激光加工和热压过程涉及碳纤维薄片31，粘合胶膜32，聚酰亚胺薄膜33。整个流程分为6个阶段，一共涉及三个堆叠，其中阶段1-激光加工各层材料并热压形成一号堆叠。阶段2-激光加工各层材料并热压形成二号堆叠。阶段3-激光加工阶段1热压后的一号堆叠。阶段4-激光加工阶段1热压后的二号堆叠。阶段5-热压一号堆叠和二号堆叠形成三号堆叠。阶段6-激光加工三号堆叠形成传动机构。由此得到的传动机构具有高机动特性，可以实现爬行机器人的前进动作和转弯动作。
在本机构中共包含三条支链，其中两条为驱动支链，两条驱动支链是相似的，剩下一条为约束支链。
对于约束支链，其所构成的运动旋量系为：
Figure PCTCN2022132609-appb-000011
其中S 11是约束支链的第一转轴的螺旋轴所对应的运动旋量，S 12是约束支链第二转轴的螺旋轴所对应的运动旋量，L 11是运动旋量S 11的副部在Z方向上的分量，cθ,sθ分别表示cos(θ),sin(θ)函数的缩写，θ约束支链中第一转轴S 11和第二转轴S 12之间的连杆围绕第一转轴S 11旋转的角度。
因此，约束支链所构成的约束旋量系可以表示为：
Figure PCTCN2022132609-appb-000012
其中
Figure PCTCN2022132609-appb-000013
是第一至第四约束旋力旋量。
对于两条相似的驱动支链，其所构成的运动旋量系为：
Figure PCTCN2022132609-appb-000014
其中
Figure PCTCN2022132609-appb-000015
为驱动支链的运动旋量系，S i1,S i2,S i3,S i4,S i5，(i＝2、3)，是运动旋量系
Figure PCTCN2022132609-appb-000016
的第一至第五运动旋量，q 2,r 2,q 3,r 3,p 4,q 4,r 4,p 5,q 5,r 5为所述运动旋量的副部在X、Y、Z三个方向上的分量，其中p,q,r分别对应X、Y、Z三个方向。
因此，两条驱动支链所构成的约束旋量系可以表示为
Figure PCTCN2022132609-appb-000017
其中
Figure PCTCN2022132609-appb-000018
为驱动支链的约束旋量系，
Figure PCTCN2022132609-appb-000019
为驱动支链的约束旋量系的唯一约束力旋量。
根据并联机构旋量理论，运动平台的约束旋量系为所有支链约束旋量系的并集，运动旋量系为所有支链运动旋量系的交集，因此运动平台的运动旋量系可以表示为：
Figure PCTCN2022132609-appb-000020
其中S 11是约束支链的第四转轴的螺旋轴所对应的运动旋量，S 12是约束支链第五转轴的螺旋轴所对应的运动旋量，L 11是运动旋量S 11的副部在Z方向上的分量，cθ,sθ分别表示cos(θ),sin(θ)函数的缩写，θ是约束支链中第一转轴S 11和第二转轴S 12之间的连杆围绕第一转轴S 11旋转的角度。
由于运动平台的运动旋量系包含两个旋量，因此该并联机构的自由度为二。
如图6所示，除了传动机构，机器人还包括安装在侧板上的控制器12，驱动器13和电池14。当接受到前进的指令时，驱动转轴S 21、S 31带动连杆在转轴S 12的作用下向上抬升，传动机构进行抬升动作时，机器人的上半部相对于下半部产生抬升的动作，从而实现爬行机器人相对与地面的前进运动。传动机构进行扭转动作时，机器人的上半部相对于下半部发生转向的动作，从而实现爬行机器人相对于地面的转弯运动。
实施例1
一种微型高机动性智能爬行机器人，包括压电陶瓷驱动器，传动机构，电池和控制器。爬行机器人长度为41mm宽度为18mm，整体尺寸和硬币相仿。
其中，压电陶瓷驱动器由四片压电陶瓷片和一片碳纤维片组成，压电陶瓷材料为多晶型压电陶瓷，牌号为PZT-5H，压电陶瓷片的正负表面均涂有镍合金电极。四片压电陶瓷两两分 布，将碳纤维片夹在中间。
压电陶瓷驱动器的表面的镍合金电极通过铜箔引出，镍钛合金电极和铜箔之间通过环氧导电胶连接实现导电。
传动机构为使用柔性铰链的微型二自由度并联机构，其材料为碳纤维薄片，粘合胶膜和聚酰亚胺薄膜，加工方式为激光加工和热压工艺。
具体的，通过激光在上述碳纤维薄片，粘合胶膜和聚酰亚胺薄膜材料上分别雕刻对应的图案，并将材料按顺序粘接再一起，重复多次后，得到微型的连杆结构，将结构上特定的部分连接在一起，即可获得完整的微型传动机构。
微型高机动性智能爬行机器人的动力由压电陶瓷驱动器提供，由传动机构传递转化成爬行机器人机体的抬升运动或扭转运动，进而实现爬行机器人的前进和转弯动作。
进一步的，压电陶瓷驱动器在交流电压下可以产生幅度为微米级别的摆动变形，这个摆动动作被传动机构转换成幅度较大的转动。
在本实施例中，对压电陶瓷驱动器施加的驱动电压为250V，压电陶瓷驱动器产生的摆动变形的幅度为400μm，激光测距仪对压电陶瓷驱动器末端位移测试经过测量，400μm的驱动器摆动使传动机构产生30度的转动。
微传动机构的安装过程如图3所示，首先将激光加工后的传动机构翻转，并将传动机构上5和6两处设计好的连接点扣上，以实现结构的闭环过程，用胶水固定连接点7。
微型高机动性智能爬行机器人的装配过程如图4所示，首先将压电陶瓷驱动器8的尾部嵌入传动机构的侧板上的两处安装孔，再将传动机构9的两处输入端嵌入压电陶瓷驱动器的前端，上述共计四处安装点位，均使用胶水固定。
微型高机动性智能爬行机器人的运动原理如图5所示，压电陶瓷驱动器具有两个陶瓷堆叠结构(10-左侧陶瓷堆叠，11-右侧陶瓷堆叠)，这两个陶瓷堆叠可以产生独立的动作。当两个陶瓷堆叠的动作同步时候，传动机构可以产生抬升的动作，这时机器人会前进；当两个陶瓷堆叠的动作不同步时，传动机构可以产生扭转的动作，这时机器人会转向。当两个陶瓷堆叠同时被驱动时，两个陶瓷堆叠的同步分量会引起传动机构的抬升动作，两个陶瓷堆叠动作的异步分量会引起传动机构的扭转动作。对于传动机构而言，抬升和扭转动作是可以叠加的。
实施例2
采用实施例1的方法，制得的压电陶瓷驱动器质量为280mg，微型传动机构的质量为800mg，最终组装成的微型高机动性智能爬行机器人的质量为4.34g。
对该机器人进行运动速度测试，将机器人方式在水平平台上，对机器人压电陶瓷驱动器两端施加相同电压，用摄像机(佳能5d mark2)拍摄机器人在一定时间下运动的距离，计算 机器人的爬行速度，在驱动频率为60Hz时，机器人的爬行速度达到27.4cm/s，远高于现有微型爬行机器人的运动速度(2018-RAL-Power and Control Autonomy for High-Speed Locomotion With an Insect-Scale Legged Robot)。同时，在转弯测试中，将机器人放置在水平平台上，对压电陶瓷驱动器两端施加不同电压，用摄像机拍摄机器人在一定时间下转弯的过程，计算机器人的转弯半径，当对机器人施加左侧30Hz，右侧60Hz的驱动信号时，机器人的转弯半径为1.7cm，体现出极高的机动性能。

Claims (11)

  1. 一种微型爬行机器人的传动机构，其特征在于，所述传动机构是具有三个支链两个自由度的并联机构，包括定平台和动平台，约束支链，第一驱动支链和第二驱动支链，其中所述约束支链包括第一转轴S 11和第二转轴S 12，分别产生约束所述动平台抬升运动和扭转运动的功能；所述第一驱动支链包含第三至第七转轴S 21-S 25，其中第三转轴S 21为驱动转轴，其余均为传动转轴；第二驱动支链包含第八至第十二转轴S 31-S 35，其中第八转轴S 31为驱动转轴，其余均为传动转轴，当第三转轴S 21和第八转轴S 31的运动同步时，所述传动机构的动平台相对于定平台产生抬升动作，允许爬行机器人前进；当第三转轴S 21和第八转轴S 31的运动不同步时，所述传动机构的动平台相对于定平台产生扭转动作，允许爬行机器人转弯，其中所述抬升动作和所述扭转动作的运动轴线是正交的；其中：
    第一转轴S 11在定平台上；
    第二转轴S 12在动平台上，和第一转轴S 11垂直且通过连杆连接；
    第三转轴S 21在定平台上，和第一转轴S 11平行，作为驱动转轴；
    第四转轴S 22和第一转轴S 11平行，和第三转轴S 21通过连杆连接；
    第五转轴S 23和第一转轴S 11平行，和第四转轴S 22通过连杆连接；
    第六转轴S 24和第二转轴S 12平行，和第五转轴S 23通过连杆连接；
    第七转轴S 25在动平台上，和第二转轴S 12平行，和第六转轴S 24通过连杆连接；
    第八转轴S 31在定平台上，和第一转轴S 11平行，作为驱动转轴；
    第九转轴S 32和第一转轴S 11平行，和第八转轴S 31通过连杆连接；
    第十转轴S 33和第一转轴S 11平行，和第九转轴S 32通过连杆连接；
    第十一转轴S 34和第二转轴S 12平行，和第十转轴S 33通过连杆连接；
    第十二转轴S 35在动平台上，和第二转轴S 12平行，和第十一转轴S 34通过连杆连接。
  2. 根据权利要求1所述的传动机构，其特征在于，所述传动机构的所述抬升动作和所述扭转动作是可叠加的，从而允许所述爬行机器人的前进和转弯同时进行。
  3. 根据权利要求1所述的传动机构，其特征在于，所述约束支链构成运动旋量系
    Figure PCTCN2022132609-appb-100001
    和约束旋量系
    Figure PCTCN2022132609-appb-100002
    所述运动旋量系为：
    Figure PCTCN2022132609-appb-100003
    其中S 11是约束支链的第一转轴的螺旋轴所对应的运动旋量，S 12是约束支链第二转轴的螺旋轴所对应的运动旋量，L 11是运动旋量S 11的副部在Z方向上的分量，cθ,sθ分别表示cos(θ),sin(θ)函数的缩写，θ是约束支链中第一转轴S 11和第二转轴S 12之间的连杆围绕第一转 轴S 11旋转的角度，
    所述约束旋量系为：
    Figure PCTCN2022132609-appb-100004
    其中
    Figure PCTCN2022132609-appb-100005
    是第一至第四约束旋力旋量。
  4. 根据权利要求3中任一项所述的传动机构，其特征在于，两个驱动支链构成运动旋量系
    Figure PCTCN2022132609-appb-100006
    和约束旋量系
    Figure PCTCN2022132609-appb-100007
    所述运动旋量系为：
    Figure PCTCN2022132609-appb-100008
    其中
    Figure PCTCN2022132609-appb-100009
    i＝2、3为驱动支链的运动旋量系，S i1,S i2,S i3,S i4,S i5，i＝2、3，是运动旋量系
    Figure PCTCN2022132609-appb-100010
    i＝2、3的第一至第五运动旋量，q 2,r 2,q 3,r 3,p 4,q 4,r 4,p 5,q 5,r 5为所述运动旋量的副部在X、Y、Z三个方向上的分量，其中p,q,r分别对应X、Y、Z三个方向，
    所述约束旋量系为：
    Figure PCTCN2022132609-appb-100011
    其中
    Figure PCTCN2022132609-appb-100012
    i＝2、3，为驱动支链的约束旋量系，
    Figure PCTCN2022132609-appb-100013
    i＝2、3为驱动支链的约束旋量系的唯一约束力旋量。
  5. 根据权利要求1-4任一项所述的传动机构，其特征在于，所述传动机构由刚性复合材料和柔性聚合物组成。
  6. 根据权利要求5所述的传动机构，其特征在于，所述刚性复合材料选自碳纤维，不锈钢或木，所述柔性聚合物选自聚酰亚胺薄膜或聚乙烯薄膜。
  7. 根据权利要求6所述的传动机构，其特征在于，所述刚性复合材料是碳纤维。
  8. 根据权利要求6所述的传动机构，其特征在于，所述柔性聚合物是聚酰亚胺薄膜。
  9. 一种微型爬行机器人，其特征在于，包括电源，微型驱动器，控制器，通讯模块以及根据权利要求1-8中任一项所述的传动机构，其中机器人根据控制指令在传动机构的作用下前进和/或转弯，实现无系留运动。
  10. 根据权利要求9所述的机器人，其特征在于，所述微型驱动器为压电陶瓷驱动器。
  11. 一种机器人集群，其特征在于，所述机器人集群包括权利要求9或10所述的微型爬行机器人。
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