The invention discloses a wheel paddle leg amphibious robot and a control method, the robot comprises a robot body, the robot body is provided with four wheel paddle legs, the two ends of a first joint are rotationally connected with the robot body through a supporting frame, and the first joint can rotate around the axis of the first joint relative to the robot body; the second joint is fixedly connected with the shell of the first joint; the output end of the second joint is fixedly connected with the thigh; the thigh tail end is fixedly connected with the third joint; the third joint output end is fixedly connected with the shank; the second joint and the third joint are used for controlling the thigh and the shank to rotate in a plane; the tail end of the shank is fixedly connected with a shell of the wheel paddle driving device, the paddle is embedded in the wheel, and the paddle output shaft and the wheel output shaft are both in coupling connection with the wheel paddle driving device, so that separation driving of the wheel and the paddle is achieved. Power output in different water and land environments is achieved, multi-propeller cooperative control is achieved, control is flexible while energy loss is reduced, and the stability and control precision of the robot are improved.

    本发明公开了一种轮桨腿水陆两栖机器人及控制方法,机器人包括机器人本体,机器人本体设有四条轮浆腿,第一关节的两端通过支撑架与机器人本体转动连接,第一关节能够相对机器人本体绕自身轴线旋转,第二关节与第一关节的外壳固定连接,第二关节输出端与大腿固定连接;大腿末端与第三关节固定连接,第三关节输出端与小腿固定连接;第二关节、第三关节用于控制大腿、小腿在平面内转动;小腿的末端与轮浆驱动装置的外壳固定连接,桨内嵌于轮中,浆输出轴和轮输出轴均与轮浆驱动装置耦合连接,实现轮和桨分离驱动。本发明实现了水陆不同环境的动力输出,多推进器协同控制,减小能量损耗的同时控制灵活,提高了机器人的稳定性和控制精度。


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    Title :

    Wheel paddle leg amphibious robot and control method


    Additional title:

    一种轮桨腿水陆两栖机器人及控制方法


    Contributors:
    WANG GANG (author) / WANG JIXIN (author) / LIU KAIXIN (author) / DING MINGXUAN (author) / LIU HAIKUO (author) / MENG LINGZHE (author)

    Publication date :

    2023-08-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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