Locust-like flying jumping robot based on metamorphic mechanism and its flight control method

Abstract

The invention relates to a locust-like flying and jumping robot based on a metamorphic mechanism. The robot is mainly composed of a locust-like structure part and a mechanical transmission system part located in the locust-like structure part; the mechanical transmission system part includes a bouncing system and a flapping wing system; The bouncing system includes a tension spring energy storage module, a pulley reversing module, a cam adjustment meshing module, a first-level deceleration module and a second-level incomplete gear deceleration module for legs; the invention also discloses the flight control method of the locust-like flying jumping robot The present invention consumes less energy and is more stable by using gear transmission, which can improve the attitude stability of the robot when it moves, and has stronger practicability and bionicity; the two motion modes of robot flying and jumping are coupled through the mechanical transmission system part , so as to complement each other, reduce the impact force of the robot landing stage, and can realize continuous jumping, and the movement position is more accurate.

Description

technical field [0001] The invention relates to the field of bionic robot technology, and belongs to the field of robot technology. More specifically, the invention relates to a locust-like flying and jumping robot based on a metamorphic mechanism. At the same time, the invention also discloses the flight control of the locust-like flying and jumping robot. method. Background technique [0002] The current robot application field has gradually developed from the traditional structural environment to the non-structural environment application field for the purpose of military reconnaissance, field detection, search and rescue, etc. In the future, robots will work for humans in unknown and unstructured complex environments, which require robots to have strong motion capabilities, maneuverability, and high motion flexibility to adapt to known structured environments and unknown unstructured environments. At present, mobile robots mainly adopt the wheel-driven movement mode. Wh...

AI Technical Summary

Problems solved by technology

[0006] Based on the above technical problems, the present invention provides a locust-like flying and jumping robot based on a metamorphic mechanism, which solves the problem of high energy consumption, unstable posture, deviation from the expected target position, and landing of the robot in the prior art. The technical problem of large stage impact, easy to overturn and difficult to achieve continuous jumping; at the same time, the same invention also discloses the flight control method of the locust-like flying and jumping robot based on the metamorphic mechanism

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