A miniature bidirectional crawling robot based on vibration mode control
By altering the vibration modes of the elastic elements in a micro crawling robot, bidirectional crawling is achieved using a cantilever beam and electromagnetic actuators. This solves the predicament of micro robots in narrow passages, simplifies the structure, and improves environmental adaptability and speed.
CN117755412BActive Publication Date: 2026-05-26BEIHANG UNIV
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Patent Information
- Application Number
- CN202410169127.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-06
- Publication Date
- 2026-05-26
- Estimated Expiration
- 2044-02-06
AI Technical Summary
Technical Problem
Existing micro-crawling robots cannot crawl bidirectionally in narrow passages, leading to difficulties. Existing technical solutions are highly complex and have limited environmental applicability.
Method used
By changing the vibration modes of the elastic elements in the power system, the robot can achieve bidirectional crawling by controlling the vibration frequency of the cantilever beam. The crawling legs are driven by electromagnetic actuators and flexible four-bar linkages, simplifying the structure and controlling the crawling direction.
Benefits of technology
It achieves a simplified structure and high reliability for robots to crawl bidirectionally in narrow environments, improving environmental adaptability and movement speed.
✦ Generated by Eureka AI based on patent content.
Abstract
This invention discloses a miniature bidirectional crawling robot based on vibration mode control, comprising a support frame, a drive device, and a power system. The power system consists of an elastic element, a flexible four-bar linkage, and crawling feet. One end of the elastic element is fixed to the support frame, and the other end is connected to the flexible four-bar linkage. The other end of the flexible four-bar linkage is fixed, with the crawling feet connected in its middle section. The elastic element can generate different vibration modes under different frequency excitations. The drive device can drive the elastic element to undergo forced vibration, which in turn drives the crawling feet relative to the ground through the flexible four-bar linkage to achieve bidirectional crawling. When the power system is in first-order vibration, the robot crawls forward; when the power system is in second-order vibration, the robot crawls backward. Thus, by changing the vibration mode of the elastic element, the robot can be controlled to achieve bidirectional crawling motion. This invention has a simple structure, high reliability, convenient bidirectional motion control, great miniaturization potential, and fast crawling speed.
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