The invention relates to the technical field of bionic robots, and particularly discloses a swing rod driven flexible crocodile tail imitating structure which comprises a swing rod, a driving mechanism, a driving flexible tail section and a driven flexible tail section. The swing rod is provided with a plurality of elastic connecting pieces; the driving mechanism is connected with the swing rod; the active flexible tail section is connected with the swing rod through a plurality of elastic connecting pieces; the active flexible tail section is provided with a first elastic reset piece; when the active flexible tail section swings, the first elastic reset piece converts at least part of kinetic energy into elastic potential energy, and kinetic energy is provided for subsequent swing. The driven flexible tail section is provided with a second elastic reset piece; when the driven flexible tail section swings, at least one second elastic reset piece converts at least part of kinetic energy into elastic potential energy, and kinetic energy is provided for subsequent swinging; according to the flexible crocodile tail imitating structure driven by the swing rod, the driving flexible tail section and the driven flexible tail section can be controlled only by controlling the swing rod to swing, and the control difficulty is low; and high-frequency driving can be realized.
本发明涉及仿生机器人技术领域,具体公开一种摆杆驱动的柔性仿鳄尾结构,包括摆杆、驱动机构、主动柔性尾巴段和从动柔性尾巴段;摆杆具有多个弹性连接件;驱动机构与摆杆连接;主动柔性尾巴段通过多个弹性连接件与摆杆连接;主动柔性尾巴段具有第一弹性复位件;在主动柔性尾巴段摆动时,第一弹性复位件将至少部分动能转化为弹性势能,为后续的摆动提供动能;从动柔性尾巴段具有第二弹性复位件;在从动柔性尾巴段摆动时,至少一个第二弹性复位件将至少部分动能转化为弹性势能,为后续的摆动提供动能;该摆杆驱动的柔性仿鳄尾结构仅通过控制摆杆摆动就能控制主动柔性尾巴段和从动柔性尾巴段,控制难度较低;可以实现高频率驱动。
Flexible crocodile tail imitating structure driven by swing rod
摆杆驱动的柔性仿鳄尾结构
2023-09-05
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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