Desert quadruped robot imitating lizard

Abstract

The invention provides a desert quadruped robot imitating a lizard. The desert quadruped robot imitating the lizard comprises a robot body, a C-type leg structure and a tail structure, the C-type leg structure comprises 2N C-type legs which are symmetrically arranged on the two sides of the robot body through drive motors respectively, the tail structure has two degrees of freedom through a horizontal swinging steering engine and a vertical swinging steering engine and is arranged in the middle of the rear end of the robot body through the horizontal swinging steering engine, and the drive motors of the C-type legs and the horizontal swinging steering engine and the vertical swinging steering engine of the tail structure are connected with a controller through wires. The desert quadruped robot imitating the lizard can ensure a stable and rapid walking state in the desert environment, and is high in adaptability to the desert environment. Meanwhile, intensity of pressure on sand grains from the legs is reduced, and small sinkage of the robot is ensured. The flexible tail structure not only can keep balance of the robot body in the walking process of the robot, but also can help the robot better escape from danger after the robot sinks into the sand.

Description

technical field [0001] The invention relates to a robot in the mechanical field, in particular to a lizard-like desert quadruped robot suitable for desert walking. Background technique [0002] Generally, desert robots are mainly composed of two structures: wheeled and multi-degree-of-freedom-legged. The wheeled structure is mainly to reduce the pressure through the multi-wheel system so that the robot can move more flexibly on the sand; the legged structure is mainly aimed at the bionics of desert spiders and other creatures, and the machine with a large contact area with the sand is controlled by the multi-degree-of-freedom structure. The "sole" achieves the purpose of reducing pressure. [0003] At present, the above two structures have some obvious disadvantages. On the one hand, although the wheeled structure is fast, it is not suitable for crossing some of the more complex terrain in the desert. The speed of the foot structure is relatively slow, and the multi-joint...

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Problems solved by technology

But there is still no design study for the robot to crawl out of the sand

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