The invention provides a novel multifunctional three-legged underwater bionic octopus robot. The novel multifunctional three-legged underwater bionic octopus robot is composed of a head, a neck and mechanical arms. The head is in a bionic short oval shape, a control center is arranged in the head, an underwater propeller is arranged outside the head, and six-degree-of-freedom motion can be provided for the robot. The neck part is provided with a storage mechanism, a binocular vision mechanism, a depth sensor, light, a magnetic compass and a mechanical arm interface; the manipulator is composed of a mechanical arm and an end effector, a shell of the mechanical arm is in an oval shape, and a lateral line sensor arranged at a short shaft can effectively improve the sensing capacity of the robot to the water flow direction, the flow speed, the turbulence and the pressure. The underwater robot can realize various motion attitudes such as underwater crawling, underwater high-speed navigation, underwater jumping, obstacle crossing and the like, has high-precision autonomous path planning and motion control capability, and particularly has more excellent motion performance due to self-sensing and application capability on underwater weak pressure and water flow change.
本发明提供了一种新型多功能三足式水下仿生章鱼机器人,由头部、颈部、机械手三部分组成。头部呈仿生短卵形,内部设置有控制中心,外部设置有水下推进器,可以为机器人提供六自由度运动;颈部设置有储藏机构、双目视觉机构、深度传感器、灯光、磁罗经、机械手臂接口;机械手由机械手臂和末端执行器两部分构成,机械手臂壳体呈椭圆形状,在短轴处设置的侧线传感器可以有效提升机器人对水流方向、流速、湍流、压力的感知能力,该水下机器人可以实现水下爬行、水下高速航行、水下跳跃、越障等多种运动姿态具有高精度的自主路径规划和运动控制能力,尤其是对水下微弱压力和水流变化的自我感知和运用能力使其具有更加优异的运动性能。
Novel multifunctional three-legged underwater bionic octopus robot
一种新型多功能三足式水下仿生章鱼机器人
2024-11-15
Patent
Electronic Resource
Chinese