The invention relates to a motion mode of a bionic stingray amphibious robot, and belongs to the technical field of bionic robot motion. In the underwater navigation movement mode, the fluctuation pectoral fin is driven by the first driving piece to swing so as to control horizontal maneuvering, and the rudder is controlled by the second driving piece to deflect so as to control vertical maneuvering; in the seabed sailing movement mode, the rudder is controlled to deflect downwards through a second driving part so that the rudder angle of the rudder can be negative, the rudder angle of the rudder can be kept unchanged, and the fluctuation pectoral fin is driven to swing through a first driving part so as to control horizontal maneuvering; in the land navigation movement mode, the rudder is controlled by the second driving piece to keep the rudder angle of the rudder at zero, and the fluctuation pectoral fin is driven by the first driving piece to swing so as to control horizontal maneuvering. According to the motion mode of the bionic stingray amphibious robot provided by the invention, the complexity of the bionic amphibious robot for controlling floating and diving is reduced.
本发明涉及一种仿生魟鱼水陆两栖机器人的运动方式,属于仿生机器人运动技术领域。水下航行运动方式中,通过第一驱动件驱动波动胸鳍摆动以控制水平机动,通过第二驱动件控制方向舵偏转以控制垂向机动;海底航行运动方式中,通过第二驱动件控制方向舵向下偏转,以使方向舵的舵角为负,并保持方向舵的舵角不变,通过第一驱动件驱动波动胸鳍摆动以控制水平机动;陆地航行运动方式中,通过第二驱动件控制方向舵保持方向舵的舵角为零,通过第一驱动件驱动波动胸鳍摆动以控制水平机动。本发明提供的仿生魟鱼水陆两栖机器人的运动方式,降低了仿生水陆两栖机器人对上浮和下潜控制的复杂度。
Movement mode of bionic stingray amphibious robot
一种仿生魟鱼水陆两栖机器人的运动方式
2023-07-14
Patent
Elektronische Ressource
Chinesisch