The invention belongs to the field of advanced robot technologies and bionic engineering, and discloses a multi-fin auxiliary propulsion amphibious modular snake-shaped robot which comprises a head joint, a plurality of body joints and a tail joint. The head joint, the body joints and the tail joint are sequentially connected in series, the head joint comprises a head joint control module, a pectoral fin driving module and a joint connecting module, and the body joints comprise joint connecting modules and control system modules. The tail joint comprises a tail joint control module, a dorsal fin control module and an auxiliary tail fin propelling module, modularized structure control is utilized, driving modes needed by the land environment and the water environment are met at the same time, the complexity of whole machine structure assembling is reduced, all the driving modes are achieved through the same structure, the structure is simple and compact, and the structure is compact. Modularized assembly can be achieved according to specific actual conditions, and modularization and light weight of the robot are achieved.
本发明属于先进机器人技术和仿生工程领域,公开了一种多鳍辅助推进的两栖模块化蛇形机器人,一种多鳍辅助推进的两栖模块化蛇形机器人,包括一个头部关节、多个身体关节和一个尾部关节,所述一个头部关节、多个身体关节和一个尾部关节依次串联连接,头部关节包括头部关节控制模块、胸鳍驱动模块和关节连接模块,身体关节包括关节连接模块和控制系统模块,尾部关节包括尾部关节控制模块、背鳍控制模块和辅助推进尾鳍模块,本发明利用模块化的结构控制同时满足了陆地和水中两种环境所需的驱动方式,减少了整机结构装配的复杂性,所有驱动方式都由相同结构实现,结构简单紧凑,可根据具体实际情况模块化装配,实现机器人的模块化和轻量化。
Amphibious modular snakelike robot with multi-fin auxiliary propulsion and control method
一种多鳍辅助推进的两栖模块化蛇形机器人及控制方法
2024-06-18
Patent
Electronic Resource
Chinese
IPC: | B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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