Lizard-like Desert Quadruped Robot

Abstract

The invention provides a lizard-like desert quadruped robot, which includes a robot body, a C-shaped leg structure and a tail structure. The C-shaped leg structure includes 2N C-shaped legs, and the 2N C-shaped legs are respectively symmetrically arranged on the robot body through driving motors. On both sides of the robot, the tail structure has two degrees of freedom through the left and right swing steering gear and the up and down steering gear, and is set at the middle position of the rear end of the robot body through the left and right swing steering gear; the drive motor of the C-shaped legs and the left and right swing of the tail structure The steering gear and the up-and-down steering gear are respectively connected with the controller through wires. The invention can ensure a relatively stable and fast walking state in the desert environment, and has strong adaptability to the desert environment. At the same time, the pressure of the legs on the sand grains is reduced to ensure a small amount of subsidence of the robot. The flexible tail structure not only plays a role in maintaining the balance of the robot's body during travel, but also helps the robot better escape from danger when it 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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