The invention discloses a multi-mode motion robot based on a tensegrity structure and a control method of the multi-mode motion robot. The robot comprises a control module, a wriggling module, a rolling module and a flying module, wherein the wriggling module, the rolling module and the flying module are electrically connected with the control module. Wherein the wriggling module is of a tensegrity structure and is formed by mutually connecting 15 extension springs and 6 driving pressing rods, the 6 driving pressing rods comprise a central driving pressing rod, the flying module is arranged at the midpoint of the central driving pressing rod, and the flying module is of a four-rotor structure; the rolling module comprises a motor and a round wheel which are sequentially installed at the two ends of the center driving pressing rod respectively. The control module is used for controlling stretching and retracting of all driving pressing rods in the wriggling module, operation of four rotors in the flight module and rotation of round wheels in the rolling module. According to the robot structure provided by the invention, three movement modes of wriggling, rolling and flying can be realized, and the robot has relatively strong maneuvering characteristics and environmental adaptability.
本发明公开了一种基于张拉整体结构的多模态运动机器人及其控制方法,该机器人包括控制模块以及与控制模块电连接的蠕动模块、滚动模块和飞行模块;其中,蠕动模块为张拉整体结构,由15根拉伸弹簧和6根驱动压杆相互连接组成,6根驱动压杆包括中心驱动压杆,中心驱动压杆的中点处设置飞行模块,该飞行模块为四旋翼结构;滚动模块为分别依次安装在中心驱动压杆两端的电机和圆轮;控制模块用于控制所述蠕动模块中各个驱动压杆的伸缩、所述飞行模块中四旋翼的运行和所述滚动模块中圆轮的转动。本发明所提出的机器人结构,能够实现蠕动、滚动和飞行三种运动模式,该机器人具备较强的机动性能和环境适应性。
Multi-modal motion robot based on tensegrity structure and control method thereof
一种基于张拉整体结构的多模态运动机器人及其控制方法
2023-08-08
Patent
Electronic Resource
Chinese
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