Rope-driven flexible double-joint bionic crab and control method

Abstract

The invention provides a rope-driven flexible double-joint bionic crab and a control method, and relates to the field of bionics. The device comprises legs, a body and a shell. Relaxation is achieved through a PC board, and supporting is achieved through PLA; free movement of the bionic crab on the soft ground is achieved through synchronous and coordinated driving of the four ropes, and a new bionic thought is provided for effective exploration and monitoring of complex environments such as mud flat. A plurality of sensors are carried to collect environmental data; an AI program is built through a TensorFlow machine learning model, and off-line intelligent voice control is achieved; the gesture recognition module can recognize gestures and execute commands according to the gestures; detection of temperature, humidity, air pressure, light intensity, sound intensity, magnetic field (direction), TVOC and CO2 and acquisition of images can be realized; the defects that traditional bionic crab sportswear is numerous and mechanical structures are difficult to adjust are emphatically overcome, the functions of the sportswear are enriched on the basis of simplifying the manufacturing process and reducing the manufacturing difficulty, and the applicability of cooperation and co-fusion of the sportswear and people is improved.

Description

technical field [0001] The invention relates to the field of bionics, in particular to a rope-driven flexible double-joint bionic crab and a control method. Background technique [0002] In 2009, the School of Electronics, Jiangxi University of Finance and Economics designed a hexapod and two-claw bionic crab robot based on hard aluminum alloy components; The bionic crab is powered by a stepping motor and a steering gear, and drives the rack and pinion to achieve movement; in 2019, the School of Mechanical and Electrical and Control Engineering of Shenzhen University designed an amphibious mechanical crab, which needs to use 20 PWM signals to control the steering gear ; NASA has developed a hexapod robot called ATHLETE. The robot has six multi-joint legs, the joints are controlled by servos, and the legs are equipped with wheels, which can climb a 36° slope. Rockwell Corporation of the United States has designed an underwater walking six-legged bionic crab robot ALUV. Each ...

AI Technical Summary

Problems solved by technology

[0003]In 2019, Yao Jiantao of Yanshan University and others imitated the movement principle of curved worms and designed a wheel-footed bionic peristaltic soft robot. By controlling the periodic change of air pressure in the cavity, the Peristalsis and turning provide new ideas for the rapid movement of flexible robots; in 2020, the Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences designed a rope-driven bionic robot arm with variable stiffness. However, the arm drives ropes. Parts are assembled, it is difficult to ensure the consistency of the stiffness of each joint

However, flexible bones still have the defects of easy fatigue and low precision.

When the cable drives the joint, the number of cables is difficult to control and can only transmit force in one direction

When made into a bionic robot, the movement direction is generally single

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