Frog-imitating amphibious robot based on series-parallel mechanism

Abstract

The invention discloses an amphibious robot based on a hybrid mechanism. The amphibious robot comprises a mechanical driving assembly, a motor driving assembly and a shell assembly. Wherein the mechanical driving assembly is divided into a left mechanical driving mechanism and a right mechanical driving mechanism, and each mechanical driving mechanism comprises a sole part and a two-degree-of-freedom space hybrid mechanism composed of an upper planar six-bar mechanism and a lower planar six-bar mechanism; the motor driving assembly comprises a servo motor, a motor control panel and a wireless transmission module, the motor controls each set of mechanical driving mechanism to move cooperatively, amphibious movement gaits of frogs are simulated, the robot can crawl in the land environment through the two stages of starting and leg swinging, and the robot can swim underwater through the three stages of slapping, sliding and returning; the motor driving assembly is wrapped in a shell of the shell assembly, and the effects of sealing protection and resistance reduction are achieved. The robot realizes frog type bionic movement by using a small amount of drive, is high in integration level and movement efficiency, simple and convenient to operate and good in stability, and can be used for amphibious bionic mechanism research and land and water exploration.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a frog-like amphibious robot. Background technique [0002] In recent years, the amphibious environment, as a typical terrain feature, has received more and more attention in scientific research fields such as sample collection, environmental monitoring, and military exploration. Therefore, the role of amphibious robots is becoming more and more important. As a typical amphibian, the frog has a very dexterous biological structure and is a good reference for amphibious sports. As a mobile robot that can achieve specific motion or operation requirements on land and water, amphibious robots are greatly affected by the environment, so the use of legs is more conducive to adapting to complex environments, while simplifying the mechanism and drive of the robot. It is of great significance to improve the performance of the robot to improve the movement efficiency of the robot and...

AI Technical Summary

Problems solved by technology

However, its single-motor-driven control method leads to short strokes and low walking efficiency; the Chinese invention patent authorization number CN104828168B is named as a double-swing arm motion mechanism for an amphibious frog board robot. Combined with the double-swing arm movement method of frog swimming, this design generates a large thrust when swimming, and the movement reliability is high

However, its bionic degree is insufficient, and it only borrows the swinging action of the tail fins when the frog swims, ignoring the pedaling of the legs, so the movement accuracy and movement efficiency are not high enough; and the design uses both connecting rods and crank sliders Institutions with high complexity

[0004] It can be seen that the current legged amphibious robots either have poor performance due to too simple mechanism, or have low motion efficiency due to low degree of bionics, or are too complex in design

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