A bionic miniature four-foot crawling robot comprises a front body, a rear body, a front linkage foot mechanism, a rear linkage foot mechanism, a four-foot coupling driving mechanism and a steering executing mechanism. The four-foot coupling driving mechanism is arranged between the front and rear linkage foot mechanisms, and the steering executing mechanism is arranged between the front and rear bodies. Overall motion execution of the robot is achieved only through two motors, one motor is used for executing walking actions of the robot, the other motor is used for executing steering actions of the robot, and compared with a traditional legged robot, use of the motors is greatly reduced, the control difficulty and energy consumption of the robot are effectively reduced, the size and weight of the robot can be further reduced, and cost is reduced. The narrow terrain trafficability of the robot is improved; compared with a legged robot adopting a steering engine as a joint actuator, four-foot coupling linkage is achieved, the control difficulty is lowered, meanwhile, gait errors of front and rear feet can be avoided, the weight and size of the four feet are reduced, the movement stability and the bearing capacity are effectively improved, and then the adaptability to a narrow space is improved.

    一种仿生微型四足爬行机器人,包括前躯体、后躯体、前联动足机构、后联动足机构、四足耦合驱动机构及转向执行机构;四足耦合驱动机构设在前后联动足机构之间,转向执行机构设在前后躯体之间。机器人整体运动执行仅由两台电机实现,一台电机用于机器人行走动作执行,另一台电机用于机器人转向动作执行,与传统腿式机器人相比,大幅度减少电机的使用,有效降低机器人的控制难度和能耗,可进一步降低机器人的体积和重量,提高机器人的狭窄地形通过能力;与采用舵机作为关节执行器的腿式机器人相比,四足耦合联动,降低控制难度的同时可以避免前后足步态出错,降低四足重量和尺寸,有效提高运动稳定性和承载能力,进而提高对狭小空间的适应能力。


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    Title :

    Bionic miniature four-footed crawling robot


    Additional title:

    一种仿生微型四足爬行机器人


    Contributors:
    WANG YANQING (author) / ZHENG JIANSHU (author) / LIU YULIN (author) / GUO PEIYU (author) / WANG YI (author) / WU QUE (author) / HE ZHUORU (author) / WANG YUNFENG (author)

    Publication date :

    2024-03-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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