The invention provides a novel gecko-imitating robot design, and relates to the technical field of specialized robot equipment. The gecko-imitating robot is a special bionic robot with structures and advantages of a quadruped robot and a wall-climbing robot at the same time, plays an important role in multiple fields of aerospace, investigation, disaster search and rescue and the like, and can normally carry out exploration work in complex terrains and multiple occasions. The moving technology and the adsorption mode of the robot are mainly researched, a hardware system is designed, the robot comprises a mechanical body, a motor, a sensor module, a motor driving module and the like, and the mechanical body comprises a trunk structure, a leg structure, a foot adsorption structure and a head and tail structure of the robot. And then statics and dynamics simulation is carried out on the robot, and a corresponding optimization design scheme is provided according to a simulation analysis result. Finally, a robot control system is designed, and the linear walking function and the obstacle avoidance function are completed.

    本发明提供了一种新的仿壁虎机器人设计,涉及特种机器人设备技术领域。仿壁虎机器人是同时具有四足机器人和爬壁机器人的结构及优点的一种特种仿生机器人,其在航空航天、侦查、灾难搜救等多个领域发挥重要的作用,为使其能正常在复杂地形及多种场合进行探索工作,本发明主要研究其移动技术和吸附方式,进行硬件系统进行设计,包括机械本体、电机、传感器模块、电机驱动模块等,机械本体包括机器人的躯干结构、腿部结构、足部吸附结构以及头部和尾部结构。然后对机器人进行静力学及动力学仿真,针对仿真分析结果,提出对应优化设计方案。最后设计机器人控制系统,完成其直线行走功能及避障功能。


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    Title :

    Gecko-imitating robot design with autonomous ultrasonic detection capability


    Additional title:

    一种具有自主超声探测能力的仿壁虎机器人设计


    Contributors:
    LI KAI (author) / YANG SIQI (author)

    Publication date :

    2024-10-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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