Air-ground amphibious spherical metamorphic robot based on metamorphic principle

Abstract

The invention discloses an air-ground amphibious spherical metamorphic robot based on a metamorphic principle. The robot mainly comprises a flying module and a traveling module. The flying module comprises a symmetrical four-connecting bar mechanism driven by a worm and worm wheel motor, and the four-connecting bar mechanism realizes to automatically fold a stand to adapt to different requirements for the robot structure under a spherical un-deformed state, a terrestrial state and an aerial state. The traveling module uses a 8-freedom four-foot robot, the shanks are driven to move through the four-connecting bar mechanism, and arc plates fitting with the shanks partially fit with the lower semi-spherical shell under the un-deformed state so as to form the spherical shape. When preparing to fly, the upper semi-spherical shell gives place to support arms for folding the stand through moving upwardly. After the support arms stretch to the right positions, the upper semi-spherical shell moves downward to restore. A crank block mechanism is used for driving the upper semi-spherical shell. The air-ground amphibious spherical metamorphic robot based on the metamorphic principle is featured with small volume, reasonable structure, simple and beautiful shape, outstanding movement performance, easiness and high efficiency in control, strong anti-interference ability and the like.

Description

technical field [0001] The invention belongs to the technical field of land-air amphibious robots, and particularly relates to a structure design and device of a robot capable of realizing land-based and air-based movements by changing structures. Background technique: [0002] The crawler-type, wheel-type and foot-type movement methods of traditional robots have been widely used, and with the continuous improvement of the requirements for the adaptability of the robot environment, it can achieve rapid conversion between land, air and amphibious, which is incomparable with ordinary robot platforms. The amphibious robots with high mobility will have better development prospects. At present, a relatively simple and novel land-air amphibious unmanned platform is the Hybrid Terrestrial and Aeria Quadrotor (HyTAQ) from the Robotics Laboratory of the Illinois Institute of Technology. The interior of HyTAQ is a quadrotor aircraft, and the outside is wrapped by a layer of cover, wh...

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Problems solved by technology

In this way, not only is the land form that the robot can walk on limited, but it is also susceptible to environmental influences, such as strong winds and rainfall.

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