Dry adhesion and claw four-wheel-foot-paddle-driven multiphibious robot and motion method thereof

Abstract

The invention provides a dry adhesion and claw four-wheel-foot-paddle-driven multiphibious robot and a motion method thereof and belongs to the field of robots. A body main body of the dry adhesion and claw four-wheel-foot-paddle-driven multiphibious robot comprises a front foot supporting frame (3), N series-connected body Z-axis steering engine and a rear foot supporting frame (18); a head neckstructure comprises a head Y-axis steering engine (2) and a camera (1); a tail structure comprises a tail X-axis steering engine (26), a tail X-axis steering engine U-shaped connecting piece (27), M series-connected tail Z-axis steering engines and a tail fin (31); and each foot structure consists of a foot Y-axis steering engine, a supporting block, a supporting wheel and a wheel foot paddle. Thedry adhesion and claw four-wheel-foot-paddle-driven multiphibious robot can satisfy self-adaptive requirements of a non-structural topographic water surface-land surface under a natural environment;and meanwhile, the dry adhesion and claw four-wheel-foot-paddle-driven multiphibious robot can adopt dry adhesion to perform large slope wall surface climbing on a smooth surface and can also adopt aclaw to perform large slope wall surface climbing on a rough surface; and the dry adhesion and claw four-wheel-foot-paddle-driven multiphibious robot and the motion method thereof can be used as a dryadhesion and claw four-wheel-foot-paddle-driven multiphibious robot on an all terrain multiphibious cross-country mobile platform under the natural environment and the motion method thereof.

Description

technical field [0001] The invention belongs to the application field of robot technology, and in particular relates to a multi-dwelling robot driven by four-wheel paddles with dry adhesion claws and its bionic motion, which is mainly used as an all-terrain multi-dwelling mobile platform in a natural environment. Background technique [0002] Robots that adapt to various complex environments on land and water are one of the most cutting-edge topics in the field of robot research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence, and reflects the intelligence of a country. At the same time, as an important symbol of a country's high-tech strength, developed countries have invested heavily in research in this field. [0003] The footed robot can climb slopes on complex ground, and can adjust the combination of front and rear end high and low body movements to meet the requirements...

AI Technical Summary

Problems solved by technology

[0005] A single robot with wheel feet, foot hooks, and adhesive tracks has limited functions, and a multi-dwelling robot driven by a wheel foot paddle with dry adhesion and hook claws and its bionic locomotion have not been reported, nor have they been studied.

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