The application provides a linkage frog-imitating swimming robot based on rope driving, a left forelimb, a right forelimb, a left posterior limb and a right posterior limb are arranged on a trunk, and each of the left forelimb and the right forelimb comprises a first driving mechanism, a rotating leg, a second driving mechanism, a front shank assembly, a front flipper assembly and a first traction rope; each of the left posterior limb and the right posterior limb comprises a third driving mechanism, a rear thigh assembly, a rear shank assembly, a rear flipper assembly, a second traction rope and a third traction rope. In the moving process of the robot, the front limbs can rotate by driving the first driving mechanisms, the front limbs can paddling by driving the second driving mechanisms to pull the first traction ropes, the rear limbs can kick by driving the third driving mechanisms to pull the second traction ropes and the third traction ropes, and moving of the robot and adjustment of moving postures are achieved. The swimming robot provided by the invention can simulate frog motion in a high-simulation manner, so that the robot can move more stably in water, and the maneuverability is high; and meanwhile, miniaturization and convenient development of the underwater robot can be promoted.

    本申请提供的基于绳驱动的联动仿蛙游动机器人,躯干上设置左前肢、右前肢、左后肢和右后肢,左前肢和右前肢包括第一驱动机构、旋转腿、第二驱动机构、前小腿组件、前脚蹼组件和第一牵动绳,左后肢和右后肢包括第三驱动机构、后大腿组件、后小腿组件、后脚蹼组件、第二牵动绳和第三牵动绳。机器人游动过程中,驱动第一驱动机构可实现前肢旋转,驱动第二驱动机构牵引第一牵动绳可实现前肢划水,驱动第三驱动机构牵引第二牵动绳和第三牵动绳可实现后肢蹬水,实现机器人游动以及游动姿态的调整。本申请提供的游动机器人能够高仿真的模拟青蛙运动,实现机器人在水中的运动更加平稳、机动性强;同时,可促进水中机器人小型化、便捷化发展。


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    Title :

    Linkage frog-imitating swimming robot based on rope driving


    Additional title:

    一种基于绳驱动的联动仿蛙游动机器人


    Contributors:
    FAN JIZHUANG (author) / PAN YITAO (author) / WANG SHUQI (author) / DU QILONG (author) / LIU GANGFENG (author) / ZHAO JIE (author)

    Publication date :

    2022-01-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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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