The invention discloses a four-foot piezoelectric crawling robot which comprises two trapezoidal metal matrixes, the metal matrixes are parallel and are connected and fixed through a connecting piece, the connecting piece is fixed to the upper end face of each metal matrix, and a piezoelectric ceramic copper sheet is fixed to the upper end face of each metal matrix; a connecting plate is horizontally fixed to the lower end face of the metal base body, two driving feet are fixed to the bottom end of the connecting plate, the driving feet are arranged in parallel and incline towards the same direction, and each driving foot is of an internally-hollowed arc body structure; the piezoelectric ceramic copper sheets are communicated with a voltage amplifier through wires. The voltage amplifier is communicated with a signal generator. The invention further discloses a control method of the robot. Relative movement is generated through contact between feet and the ground so as to drive the piezoelectric robot to move stably, some functions, such as passing through a narrow channel or climbing a mountain, which cannot be completed by human beings can be achieved, and compared with other piezoelectric robots, the piezoelectric robot has the advantages that the movement speed is higher, the size requirement is smaller, and the environment adaptability is better.
本发明公开了四足压电爬行机器人,包括两个呈梯形的金属基体,金属基体平行且通过连接件连接固定,连接件固定于金属基体的上端面,每个金属基体的上端面均固定有压电陶瓷铜片;金属基体的下端面水平固定有连接板,连接板的底端固定有两个驱动足,驱动足平行设置且朝同一方向倾斜,驱动足为内部镂空的圆弧体结构;压电陶瓷铜片通过导线连通电压放大器,电压放大器连通信号发生器;还公开了该机器人的控制方法。通过足部与地面的接触产生相对运动从而驱动压电机器人达到平稳的移动,可以实现一些人类无法完成的功能,如通过狭窄的通道或者攀爬山体等,相比于其他的压电机器人,具有更快的运动速度,更小的体积要求以及更好的环境适应性。
Four-foot piezoelectric crawling robot and control method thereof
四足压电爬行机器人及其控制方法
2023-04-25
Patent
Electronic Resource
Chinese
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