MECHANISM FOR THE MORPHOSIS OF AN APODOUS ROBOT.

摘要

The present disclosure is related to a set of elements that make up a four-bar mechanism with 4R topology which adds to a commercial apodous robot, the ability of a locomotion in sphere and therefore, to roll on its same surface. The mechanism consists of a spherical cover, 2 base links, a collar, 2 input links, 2 coupling links that function as an exoskeleton, which adapts to each leg of the robot, coordinating each element to allow the mobility of the entire system. The mechanism transforms the motion state of a robot; generates an apodous locomotion and simultaneously allows the change to a spherical locomotion in an integral, autonomous and stable manner. Together, when the legs are folded, a spherical phase is generated or when the robot's legs are extended, a hexapod or quadruped shape is obtained according to the type of robot being used. The fact that a robot has the ability to transform represents a significant advantage since the system becomes more robust under different operating conditions according to the surfaces on which is moving.