MX2014012577A - Pelvis chassis using reconfigurable drive units for walking machines. - Google Patents

Abstract

The pelvis chassis object of the present invention is designed for use with reconfigurable drive units, which are based upon the Peaucellier-Lipkin mechanism, thereby reducing the reaction time, the energy consumption as well as simplifying the control of walking machines with four, six or eight limbs. The reconfigurable drive mechanisms are advantageous in that they only require to control two actuators to perform multiple paths, although they use three additional actuators for the reconfiguration thereof, which can slow down its operation. In order to solve this problem a quadruped, hexapod and octopod pelvis chassis was designed for simplifying the motion in the most common paths, such as the straight motion and the rotational motion about the center of the walking machine. The reduction of the reaction time, power consumption and the simplified control is achieved due to the configurations of propulsion units, which are the same in all the limbs when performing movements in a st raight line. Likewise, in order to have identical configurations in all of the limbs when they rotate about the center of the walking machine, it is required that the distances from the points at which the propulsion units are attached to the pelvis chassis, to the center of the machine walker are equal from each other.