A bionic amphibious robot based on a duck web structure comprises a robot body part and at least one pair of bionic feet arranged outside the robot body part, and each bionic foot comprises a steering engine frame, a power unit arranged on the steering engine frame, an upper driving swing rod, a lower driving swing rod and an execution connecting rod connected with the upper driving swing rod and the lower driving swing rod. Wherein the upper driving swing rod is connected with one end of the execution connecting rod through a connecting rod, the lower driving swing rod is connected with the middle of the execution connecting rod to form a two-degree-of-freedom five-connecting-rod mechanism, the self-adaptive flipper is arranged at the other end of the execution connecting rod, and the power unit is connected with the upper driving swing rod, the lower driving swing rod and the self-adaptive flipper through flexible cables. The leg-flipper integrated structure is adopted, the effect that flipper opening and closing can be achieved without an additional motor is achieved, the problem that a traditional foot type robot cannot adapt to the wetland environment of water and land crossing is solved, and the application scene of the foot type robot is further widened.
一种基于鸭蹼结构的仿生两栖机器人,包括:机身部分以及分别设置于其外部的至少一对仿生足,每一个仿生足包括:舵机架、设置于其上的动力单元、上主动摆杆和下主动摆杆以及分别与上主动摆杆和下主动摆杆相连的执行连杆,其中:上主动摆杆通过连杆与执行连杆的一端相连,下主动摆杆与执行连杆的中部相连从而构成二自由度的五连杆机构,执行连杆的另一端设有自适应脚蹼,动力单元分别与上主动摆杆、下主动摆杆和自适应脚蹼通过柔索相连。本发明采用腿部‑脚蹼集成结构,实现脚蹼开合无需额外附加电机即可实现的效果,解决传统足式机器人无法适应水陆交横的湿地环境的问题,将足式机器人的应用场景进一步进行拓宽。
Bionic amphibious robot based on duck web structure
基于鸭蹼结构的仿生两栖机器人
2023-05-23
Patent
Electronic Resource
Chinese
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