The invention relates to the technical field of robots, in particular to a variable-structure amphibious bionic frog robot which comprises a head, a trunk, two front limbs, two rear limbs, a variable-structure hinge connecting rod mechanism and an energy releasing and storing mechanism. The trunk comprises a main body part and two movable parts rotationally arranged on the two sides of the main body part; the variable-structure hinge connecting rod mechanism is used for driving the two movable parts to rotate; the energy releasing and storing mechanism comprises an elastic part used for driving the posterior limb to stretch so as to realize energy releasing, a driving part used for driving the posterior limb to bend so as to realize energy storing, and a switching part used for switching an energy storing state and an energy releasing state; efficient switching of trunk folding or unfolding is achieved through the variable-structure hinge connecting rod mechanism, the simulation frog can swim in water and walk on the land, the multifunctionality of the robot is improved, the simulation frog can keep stability and controllability in water and on the land, and the operation performance of the robot is improved.
本发明涉及机器人技术领域,尤其涉及一种变结构水陆两栖仿生青蛙机器人,包括头部、躯干、两个前肢、两个后肢、变结构合页连杆机构及释能储能机构;躯干包括主体部及转动设置在主体部两侧的两个活动部;变结构合页连杆机构,其用于带动两个活动部转动;释能储能机构,其包括用于带动后肢伸展以实现释能的弹性件、用于带动后肢曲屈以实现储能的驱动件及用于切换储能状态与释能状态的切换件;本发明通过变结构合页连杆机构实现躯干收拢或展开的高效切换,使仿真青蛙能够在水中游泳和在陆地上行走,提高了机器人的多功能性,且仿真青蛙能够在水中和陆地上都保持稳定性和控制性,提高了机器人的操作性能。
Variable-structure amphibious bionic frog robot and control method thereof
一种变结构水陆两栖仿生青蛙机器人及其操控方法
2024-10-11
Patent
Electronic Resource
Chinese