The invention discloses a line-driven soft pole-climbing robot and a motion control method thereof, and the soft pole-climbing robot comprises a head, a first connecting piece, front legs, a trunk, rear legs, a second connecting piece, a silk ribbon, a magnetic material and a silica gel block. A trunk of the robot comprises four flexible connecting rods, and steering in a plane and a three-dimensional space can be achieved through cooperation of contraction and stretching of the flexible connecting rods and actions of the front legs and the rear legs; the front legs and the rear legs are controlled through motors and driving ropes, silica gel blocks are installed on the inner sides of the legs to enhance the grabbing capacity, and the outer sides of the legs are coated with like magnetic materials to provide restoring force. According to the soft body structure, design and control are simplified, the action speed and accuracy are improved, flexible crawling and grasping in a complex environment can be achieved, excellent turning performance is shown, the capacity of adapting to variable environments is enhanced, and wide application potential is shown.
本发明公开了一种线驱动的软体爬杆机器人及其运动控制方法,所述的软体爬杆机器人,包括头部、第一连接件、前腿、躯干、后腿、第二连接件、丝带、磁性材料、硅胶块。机器人的躯干包括四个柔性连杆,通过柔性连杆的收缩和舒展配合前后腿的动作,可实现平面和三维空间的转向;前后腿通过电机和驱动线绳实现控制,腿部内侧装有硅胶块以增强抓握能力,外侧涂有同性磁性材料提供回复力。本发明的软体结构简化了设计与控制,提升了动作的速度和精准度,能在复杂环境中灵活爬行和抓握,表现出卓越的转弯性能,增强了适应多变环境的能力,展现出广泛的应用潜力。
Line-driven soft pole-climbing robot and motion control method thereof
一种线驱动的软体爬杆机器人及其运动控制方法
2024-06-11
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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