The invention discloses a forest bionic kangaroo robot based on a tooth-missing gear and a control method thereof, and the kangaroo robot comprises a machine body frame which plays a role in connecting and supporting and comprises side plates, a back plate, a front baffle plate and a bottom plate; the leg mechanism is used for realizing advancing and jumping; the tail balancing device is fixed on the side plate and is used for realizing balancing and steering during jumping; the power transmission mechanism is arranged on the machine body frame and used for providing and transmitting power for jumping and advancing of the robot; and the control system is used for controlling the whole robot system. Steering control and three-dimensional space movement can be achieved through the tail fine adjustment mechanism, forward rolling torque during jumping of the robot can be balanced, the jumping stability of the robot is kept, meanwhile, torque for left-right steering can be provided for the robot, steering of the robot in the air can be achieved, and the stability of the robot is improved. And the flexibility of the robot is greatly enhanced. And the method has better adaptive capacity to a complex forest environment.
本发明公开了一种基于缺齿齿轮的森林仿生袋鼠机器人及其控制方法,袋鼠机器人包括:机身框架,起连接支撑作用,包括侧板、背板、前挡板以及底板;腿部机构,用于实现前进与跳跃;尾部平衡装置,固定在侧板上,用于实现跳跃时的平衡及转向;动力传输机构,设置在机身框架上,用于为机器人跳跃前进提供动力并传输;控制系统,用于实现对整个机器人系统的控制。本发明通过尾部微调机构能实现转向控制,实现三维空间的运动,在跳跃过程中可以平衡机器人跳跃时向前翻滚的扭矩,保持机器人跳跃稳定性,同时又可以为机器人提供左右转向的扭矩,可实现机器人在空中的转向,大大增强了机器人的灵活性。对于复杂的森林环境有更好的适应能力。
Forest bionic kangaroo robot based on tooth-missing gear and control method of forest bionic kangaroo robot
一种基于缺齿齿轮的森林仿生袋鼠机器人及其控制方法
2023-04-25
Patent
Electronic Resource
Chinese
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