The invention discloses a bionic rana nigromaculata swimming robot. The bionic rana nigromaculata swimming robot comprises leg executing mechanisms and a driving and control mechanism. Each executing mechanism adopts a single-degree-of-freedom watt type six-bar mechanism, the appearance structure (thickness of legs and positions of joints) of the bionic robot is highly similar to the leg structure of the rana nigromaculata, and the motion curve of each joint (knee joint, ankle joint and end point) is highly similar to the swimming process of the rana nigromaculata. The rotary motion of a driving motor is converted into the reciprocating motion of the moving pair of a driving rack, and then the leg executing mechanisms are driven to do continuous motion, so that high-speed motion is realized. A steering motor drives a steering paddle to realize steering, so that the swimming robot is more flexible. The robot is less in drive, simple and convenient to control and capable of achieving robot miniaturization. The robot is simple in structure, convenient to manufacture, low in cost and good in bionic effect, and can be used for various tasks such as hydrological monitoring, ocean exploration and underwater reconnaissance.
本发明公开了一种仿生黑斑蛙游泳机器人,包含腿部执行机构、驱动和控制机构。执行机构采用单自由度瓦特型六杆机构,此仿生机器人外形结构(腿的粗细,关节的位置)与黑斑蛙腿部结构高度相似,各关节(膝关节、踝关节、末端点)运动曲线与黑斑蛙游泳过程高度相似。通过驱动电机的回转运动转化为驱动齿条的移动副的往返移动,然后驱动腿部执行机构,可做连续运动,从而实现高速运动。通过转向电机带动转向浆实现转向,让游泳机器人更加灵活。此机器人驱动少,控制简单方便,可实现机器人微型化。其结构简单、制作方便、成本低、仿生效果好,可用于水文监测,海洋探索,水下侦察等多种任务。
Bionic rana nigromaculata swimming robot
一种仿生黑斑蛙游泳机器人
2021-12-03
Patent
Elektronische Ressource
Chinesisch
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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