The multi-section bionic caterpillar robot comprises a bent body module, and sensing modules are arranged at the two ends of the bent body module; the bending body module comprises a plurality of six-degree-of-freedom parallel structures which are connected in series end to end, and each six-degree-of-freedom parallel structure is provided with a sole suction cup; the six-degree-of-freedom parallel structure comprises a movable platform and a static platform, the movable platform is connected with one end of a connecting rod assembly, the other end of the connecting rod assembly is connected with a power piece, the power piece is installed on the static platform, and the sole suction cup is installed on the static platform. According to the bionic caterpillar robot, the connecting rod assembly is made to move through the power piece, then the horizontal distance between the movable platform and the static platform connected with the movable platform through the connecting rod assembly is shortened, the next six-degree-of-freedom parallel structure is pulled, the whole body is pushed forwards, and bionic wriggling of the bionic caterpillar robot is achieved; therefore, the moth-imitating robot can flexibly and stably move in a vertical plane or a complex terrain.
本发明公开了一种多节段仿生毛虫机器人,包括弯曲体模块,弯曲体模块的两端设置有感知模块;弯曲体模块包括多个首尾串联的六自由度并联结构,每个六自由度并联结构上设置有足底吸盘;六自由度并联结构包括动平台和静平台,动平台上连接有连杆组件的一端,连杆组件的另一端连接有动力件,动力件安装在静平台,足底吸盘安装于静平台。本发明公开的仿生毛虫机器人通过动力件使得连杆组件进行移动,进而使得动平台与其通过连杆组件连接的静平台的水平距离变短,牵拉下一个六自由度并联结构,将整个身体向前推进,实现仿生毛虫机器人的仿生蠕动,使得仿生毛虫机器人能够灵活地在垂直面或者复杂地形中稳定进行运动。
Multi-section bionic caterpillar robot and control method thereof
一种多节段仿生毛虫机器人及其控制方法
2024-10-15
Patent
Electronic Resource
Chinese
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