Bionic six-foot robotic exploration ant

Abstract

The invention provides a bionic six-foot robotic exploration ant, and belongs to the technical field of multi-degree-of-freedom moving robotic explorers. The bionic six-foot robotic exploration ant comprises three left feet, three right feet and a host body. The left feet and the right feet are completely identical in the connection mode, and are in mirror symmetry during assembly. According to the left feet and the right feet, multi-degree-of-freedom movement of a single leg is simplified into two-degree-of-freedom movement which is realized by two steering gears in each group, and the groupof the steering gears of each single leg include a linear action steering gear and a rotating action steering gear which drive two-phase movement of swinging and lifting legs, so that decoupling of leg movement is realized, control schemes are simplified, and control stability is improved. Six-foot tread control laws are designed to achieve movement of the robotic exploration ant on different grounds, a camera on the host body is used for acquiring more environmental information, and accordingly, the exploration effect is good. The bionic six-foot robotic exploration ant has the advantages ofdiversity in movement mode, rapidness in multi-foot movement switching, efficiency in tread and step pitch adjustment, accuracy and rapidness in movement direction adjustment and multi-directional movement.

Description

technical field [0001] The invention belongs to a multi-legged motion detection robot and relates to a bionic ant hexapod detection robot. Background technique [0002] The structure and movement characteristics of creatures in nature have many designs that are superior to those of people, and many fruitful results have been achieved by imitating the shape and function of creatures, such as the invention of radar based on the principle of bat ultrasonic positioning; The principle discovered invented the early camouflage uniform; invented the vibrating gyroscope based on the wings of the fly. Ants are a very common creature in life, with excellent teamwork and athletic ability. At the same time, multi-legged arthropods such as spiders, locusts, and longhorns have attracted extensive attention from researchers all over the world due to their efficient foot movement performance. In the past decade, many universities and scientific research institutions have developed multi-leg...

AI Technical Summary

Problems solved by technology

[0004] (1) Wheeled movement: The DC geared motor directly drives the wheels to move, and the control method is simple, but its movement is limited by the environment, and it can exert better mobility in a good environment. In some special and complex terrains, its The movement efficiency is low, and even the corresponding maneuvers cannot be completed

[0005] (2) Tracked motion: The advantage of crawler motion is that it has a larger contact area, can provide greater forward power, and has better adaptability to complex environments, but the disadvantage of crawler motion is that it has poor maneuverability , cannot react quickly

[0006] (3) Bipedal movement: The bipedal movement is characterized by imitating human gait and has better adaptability, but bipedal movement has higher requirements for the adjustment of the center of gravity, and its stability and speed are difficult to balance

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