The invention provides a four-foot climbing gecko robot and a control system thereof. The four-foot climbing gecko robot comprises a trunk structure, four symmetrically-distributed leg structures and four foot suction cups. A damping turntable serves as a waist joint and is used for connecting a front trunk and a rear trunk of the trunk structure, so that the robot swings left and right; the longitudinal servo steering engines serve as shoulder joints and are used for connecting the trunk structure and the leg structures so as to control the leg structures to ascend and descend. The first transverse servo steering engine serves as an elbow joint and is used for connecting the longitudinal servo steering engine and the leg structure so as to drive the leg structure to move; the second transverse servo steering engine serves as a wrist joint and is used for connecting the leg structure and the foot suction cup so as to adjust the foot falling point position of the foot suction cup. The four-legged gecko crawling robot can flexibly move in a complex environment, and the stability of movement on a vertical plane is kept.

    本申请提供了一种四足爬行壁虎机器人及其控制系统,所述四足爬行壁虎机器人包括躯干结构、四个呈对称分布的腿部结构、四个足部吸盘;还包括电机驱动系统:阻尼转盘作为腰关节,用于连接所述躯干结构的前躯干和后躯干,以使所述机器人左右摆动;纵向伺服舵机作为肩关节,用于连接所述躯干结构与腿部结构,以控制所述腿部结构的抬起和下落;第一横向伺服舵机作为肘关节,用于连接所述纵向伺服舵机与腿部结构,以驱动所述腿部结构的移动;第二横向伺服舵机作为腕关节,用于连接所述腿部结构与足部吸盘,以调整所述足部吸盘的落足点位置。所述四足爬行壁虎机器人能够实现在复杂环境下的灵活运动,并保持在垂直平面上运动的稳定性。


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    Title :

    Four-foot crawling gecko robot and control system thereof


    Additional title:

    一种四足爬行壁虎机器人及其控制系统


    Contributors:
    SON WON-HO (author) / DU QIAOLING (author) / GUAN WEI (author)

    Publication date :

    2025-02-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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