A frog-like amphibious robot based on hybrid mechanism

Abstract

The invention discloses an amphibious robot based on a hybrid mechanism, which includes a mechanical drive assembly, a motor drive assembly and a shell assembly; wherein the mechanical drive assembly is divided into two groups of left and right mechanical drive mechanisms, and each group includes the sole part and the upper and lower groups. A two-degree-of-freedom space hybrid mechanism composed of a planar six-bar mechanism; the motor drive component includes a servo motor, a motor control board, and a wireless transmission module. The motor controls the coordinated movement of each group of mechanical drive mechanisms to simulate the amphibious gait of frogs: through the start And the two stages of swinging the legs realize the crawling of the robot in the land environment, and realize the underwater swimming of the robot through the three stages of slapping, sliding and replying; the motor drive component of the shell component is wrapped in its shell to play a role of sealing protection and reducing resistance ; This robot uses a small amount of drive to realize the frog-like bionic movement. It has high integration and movement efficiency, easy operation and good stability. It can be used for amphibious bionic mechanism research and land and water exploration.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a frog-like amphibious robot. Background technique [0002] In recent years, the amphibious environment, as a typical terrain feature, has received more and more attention in scientific research fields such as sample collection, environmental monitoring, and military exploration. Therefore, the role of amphibious robots is becoming more and more important. As a typical amphibian, the frog has a very dexterous biological structure and is a good reference for amphibious sports. As a mobile robot that can achieve specific motion or operation requirements on land and water, amphibious robots are greatly affected by the environment, so the use of legs is more conducive to adapting to complex environments, while simplifying the mechanism and drive of the robot. It is of great significance to improve the performance of the robot to improve the movement efficiency of the robot and...

AI Technical Summary

Problems solved by technology

However, its single-motor-driven control method leads to short strokes and low walking efficiency; the Chinese invention patent authorization number CN104828168B is named as a double-swing arm motion mechanism for an amphibious frog board robot. Combined with the double-swing arm movement method of frog swimming, this design generates a large thrust when swimming, and the movement reliability is high

However, its bionic degree is insufficient, and it only borrows the swinging action of the tail fins when the frog swims, ignoring the pedaling of the legs, so the movement accuracy and movement efficiency are not high enough; and the design uses both connecting rods and crank sliders Institutions with high complexity

[0004] It can be seen that the current legged amphibious robots either have poor performance due to too simple mechanism, or have low motion efficiency due to low degree of bionics, or are too complex in design

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