The invention discloses an amphibious robot based on a hybrid mechanism. The amphibious robot comprises a mechanical driving assembly, a motor driving assembly and a shell assembly. Wherein the mechanical driving assembly is divided into a left mechanical driving mechanism and a right mechanical driving mechanism, and each mechanical driving mechanism comprises a sole part and a two-degree-of-freedom space hybrid mechanism composed of an upper planar six-bar mechanism and a lower planar six-bar mechanism; the motor driving assembly comprises a servo motor, a motor control panel and a wireless transmission module, the motor controls each set of mechanical driving mechanism to move cooperatively, amphibious movement gaits of frogs are simulated, the robot can crawl in the land environment through the two stages of starting and leg swinging, and the robot can swim underwater through the three stages of slapping, sliding and returning; the motor driving assembly is wrapped in a shell of the shell assembly, and the effects of sealing protection and resistance reduction are achieved. The robot realizes frog type bionic movement by using a small amount of drive, is high in integration level and movement efficiency, simple and convenient to operate and good in stability, and can be used for amphibious bionic mechanism research and land and water exploration.

    本发明公开了一种基于混联机构的水陆两栖机器人,包括机械驱动组件、电机驱动组件以及外壳组件;其中机械驱动组件分左右两组机械驱动机构,每组均包括脚掌部分和由上下两组平面六杆机构组成的二自由度空间混联机构;电机驱动组件包括伺服电机、电机控制板和无线传输模块,电机控制每组机械驱动机构协同运动,模拟蛙类的两栖运动步态:通过起步以及摆腿两个阶段实现机器人在陆地环境爬行,通过拍击、滑行以及回复三个阶段实现机器人水下游动;外壳组件电机驱动组件包覆在其壳内,起到密封保护和减小阻力作用;本机器人用少量驱动实现蛙式仿生运动,集成度和运动效率高、操作简便、稳定性好,可用于两栖仿生机理研究以及水陆勘探。


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    Title :

    Frog-imitating amphibious robot based on series-parallel mechanism


    Additional title:

    一种基于混联机构的仿蛙式水陆两栖机器人


    Contributors:
    TANG YUCHENG (author) / WANG YULIN (author) / QI LIZHI (author) / YANG XIAOLONG (author) / GU CHENGJIE (author) / ZHOU SHICHAO (author)

    Publication date :

    2021-07-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen



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