The invention discloses a frog robot and a multi-posture motion control method implemented by the frog robot. The frog type bionic robot aims to solve the problem that an existing frog type bionic robot cannot jump to the highest position and cannot glide due to the fact that the weight of the existing frog type bionic robot is large. A front steering mechanism and a potential energy storage mechanism are arranged in an inner cavity formed by a main body trunk and a shell; the forelimb connecting rods are arranged on the two sides of the front end of the main body trunk, the upper ends of the forelimb connecting rods are hinged to the front steering mechanism, and the lower ends of the forelimb connecting rods are connected with the front flipper piece; rear limb connecting rods are arranged on the two sides of the rear end of the main body trunk, the upper ends of the rear limb connecting rods are connected with the potential energy storage mechanism, and rear flipper pieces are arranged at the lower ends of the rear limb connecting rods. An endoclyster sheet is arranged between each front flipper piece and the corresponding posterior limb connecting rod; the front flipper piece, the rear flipper piece, the forelimb connecting rod, the posterior limb connecting rod, the endoclita diaphragm and the rear flipper diaphragm are controlled by the front steering mechanism and the potential energy storage mechanism to do leg retraction force storage, bouncing, upward moving and/or sliding actions. The device is used for exploration and investigation or other severe terrain conditions.

    一种蛙机器人及其实现的多姿态运动控制方法。为解决现有的蛙式仿生机器人重量大,导致蛙式仿生机器人无法跳跃到最高以及无法滑翔的问题。本发明中的前置转向机构和势能储放机构置于主体躯干与外壳所形成的内腔中;前肢连杆置于主体躯干前端的两侧,前肢连杆的上端与前置转向机构相铰接,前肢连杆的下端连接前脚蹼件;后肢连杆置于主体躯干后端的两侧,后肢连杆的上端与势能储放机构连接,后肢连杆的下端设置有后脚蹼件;每个前脚蹼件与其对应的后肢连杆之间设有一个蝙膜片;前脚蹼件、后脚蹼件、前肢连杆、后肢连杆、蝙膜片和后蹼膜片在前置转向机构和势能储放机构的控制下做出缩腿蓄力、弹跳、上移和/或滑移动作。本发明用于勘探侦查或其他地形恶劣条件下使用。


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    Title :

    Frog robot and multi-posture motion control method implemented by frog robot


    Additional title:

    一种蛙机器人及其实现的多姿态运动控制方法


    Contributors:
    LI YUHAN (author) / YE SHIQING (author) / KANG ZHANXIANG (author) / LUO HAIQUN (author) / LI JIAN (author)

    Publication date :

    2023-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



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