The invention provides a modal-driven water strider type biomimetic robot. The modal-driven water strider type biomimetic robot comprises a driving module, an execution module, a motion monitoring module and a water strider type biomimetic robot modal driving method. The driving module comprises four driving feet, a robot main body mechanism, a fixing device, a piezoelectric ceramic group, an electrode, an infinite energy supply coil and the like. The execution modules are four bionic water strider feet made of titanium alloy materials. And the four groups of piezoelectric driving devices arearranged at the root parts of the bionic feet. The piezoelectric actuator is used as power to control the robot to move on the water surface. According to the biomimetic robot, the piezoelectric driving device is adopted as a power source, a transmission device is greatly simplified, the displacement control degree is accurate, the response speed is high, and no complex mechanical mechanism exists. The whole weight is light, and walking on the water surface can be kept.

    本发明提供一种模态驱动的水黾型仿生机器人,其包括驱动模块、执行模块、运动监测模块,以及水黾型仿生机器人模态驱动方法。其驱动模块包括四只驱动足、机器人主体机构、固定装置、压电陶瓷组、电极、无限供能线圈等。执行模块为钛合金材料制作的四只仿生水黾足。四组压电驱动装置安装在仿生足根部处。通过压电驱动器作为动力实现控制机器人在水面进行运动。本发明所设计的仿生机器人通过采用压电驱动装置作为动力源,将传动装置大大简化,位移控制度精确,响应速度快,无复杂机械机构。整体重量轻,能够在水面上保持行走。


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    Title :

    Modal-driven water strider type biomimetic robot


    Additional title:

    一种模态驱动的水黾型仿生机器人


    Contributors:
    WANG JUNYAO (author) / CHEN XINGYU (author) / LIU HUAN (author) / WANG YANBO (author) / LI YUNPENG (author) / SUN GONGCHEN (author) / WANG RUI (author) / LANG TIANHONG (author) / CUI BOWEN (author)

    Publication date :

    2021-02-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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