The invention provides a bionic fermented soybean beetle robot capable of rapidly rotating and swimming on water and a working method thereof, a robot main body comprises a control module, and further comprises a fermented soybean beetle head assembly, a fermented soybean beetle belly assembly with a pair of middle foot propelling mechanisms and a fermented soybean beetle tail assembly with a pair of rear foot propelling mechanisms which are sequentially arranged from front to back, the middle foot propelling mechanism and the rear foot propelling mechanism respectively form a middle foot part and a rear foot part of the robot and respectively comprise a crank rocker mechanism driven by a stepping motor, and the crank rocker mechanism is used for converting rotary motion of the stepping motor into reciprocating swing of the foot part; the control module adjusts the swing strength of the feet by setting the amplitude of each crank rocker mechanism so as to execute the linear motion of the robot, and drives water to form a vortex by changing the coupling motion parameters of the middle foot and the rear foot during the tiny water stirring action so as to drive the robot main body to rotate; the carrier platform is high in maneuverability and can rapidly swim on the water in a rotating mode.
本发明提出一种水上快速回旋游动的仿生豉甲机器人及其工作方法,机器人主体包括控制模块,还包括前后顺序设置的豉甲头部组件、带一对中足推进机构的豉甲腹部组件、带一对后足推进机构的豉甲尾部组件,所述中足推进机构、后足推进机构分别形成机器人中足部、后足部,且均包括以步进电机驱动的曲柄摇杆机构,以曲柄摇杆机构将步进电机的旋转运动转变为足部的往复摆动;控制模块通过设置各曲柄摇杆机构的振幅来调整足部的摆动力度以执行机器人的直线运动,并通过在微小搅水动作时改变中足部、后足部的耦合运动参数来驱动水形成旋涡来带动机器人主体旋转;本发明实现了机动性强、可在水上快速回旋游动的载体平台。
Bionic fermented soybean beetle robot capable of rapidly rotating and swimming on water and working method of bionic fermented soybean beetle robot
一种水上快速回旋游动的仿生豉甲机器人及其工作方法
2025-02-14
Patent
Electronic Resource
Chinese
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