Amphibious bionic turtle robot

Abstract

The invention discloses an amphibious bionic turtle robot, which has two leg module unites with the same structure and 16 independent controllable joints, can move both on land and underwater through redundant actuation and has high environmental adaptability. In the on-land gait of the robot, hip joints, pitch joints and knee joints serve as actuation joints, and rotating joints are redundant; while in the underwater gait of the robot, the hip joints, the pitch joints and the rotating joints serve as the actuation joints, and the knee joints are redundant. The robot is also equipped with a buoyancy adjusting mechanism which can control the vehicle to float up and dive in water freely. The dynamic system and control system of the robot system are arranged in a sealed cabin of the vehicle body to be protected, and the waterproof sealing of key parts is realized by using a method of oil immersed sealing or sealing adhesive application at joints. The robot has the advantages of rich motion modes, high carrying capacity, large joint rotation angle, high mobility, high flexibility and the like. In different environments, every specific motion mode has high motion efficiency, so the robot can adapt to various medium environments.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an amphibious bionic turtle robot adaptable to a multi-media environment. Background technique [0002] With the development of the national marine development strategy and military strategy, obtaining technological and military advantages in the ocean and coastal areas has become the focus of national security and defense experts and national defense technology researchers. Amphibious robots with high maneuverability and payload capacity can complete combat tasks in harsh environments such as amphibious reconnaissance, mine clearance, blasting, and communication relay in naval landing operations; they can also complete seabed surveys and oil exploration in complex ocean environments. , Underwater salvage, emergency rescue and disaster relief, anti-terrorism and anti-riot and other tasks that are not suitable for humans to undertake. Therefore, it is necessary to stud...

AI Technical Summary

Problems solved by technology

[0004] The movement form is single. For example, the bionic crab has good movement performance when crawling on land, but it still adopts the movement form of crawling after entering the water. Not only is it difficult to control due to the influence of the medium environment, but the movement efficiency is also drastically reduced.

The drive mode of the mechanism lacks diversity and flexibility. Although the existing bionic robots generally adopt the bionic design in structure, most of the mechanisms use a single redundant drive mode or under-actuated mode.

It is not suitable as a working platform. The specific performance is that the body of the bionic eel and bionic snake robot is difficult to load the working arm, the carrying capacity of the bionic shrimp is not enough, and the bionic crab cannot be used as a robot in the marine environment because it cannot move stably and reliably in the water. suitable working platform

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