The amphibious crawling robot comprises a robot trunk, a piezoelectric block is arranged at the front end of the upper surface of the robot trunk, and at least one set of driving feet are arranged on the lower surface of the robot trunk; conical surfaces are arranged on the two sides of the front end of the robot trunk, and the direction of the conical surfaces is consistent with the length direction of the robot trunk. Different single-phase excitation signals are applied to the piezoelectric blocks to excite different vibration modes of the robot trunk and the driving feet respectively, and when the robot is in water, jet flow is formed on the conical surface of the robot trunk by exciting a high-order surface external bending vibration mode of the robot trunk, so that the robot is propelled to move towards one side; on a land plane, turning crawling and forward crawling actions of the robot are achieved by exciting different first-order outer bending vibration modes of the driving feet in the x direction and the y direction. The amphibious unmanned aerial vehicle is light in weight, small in size, simple in structure and capable of achieving amphibious.
本发明公开了一种基于压电驱动的水陆两栖爬行机器人及爬行方法,包括机器人躯干,所述机器人躯干的上表面前端设置有压电块,所述机器人躯干的下表面上设置有至少一组的驱动脚;所述机器人躯干的前端两侧设置有锥形面,锥形面的方向与机器人躯干的长度方向一致。通过向压电块施加不同单相激励信号,分别激发机器人躯干和驱动脚不同振动模态,在水中时,通过激发机器人躯干的高阶面外弯曲振动模态,使机器人躯干的锥形面形成射流,推进机器人向一侧运动;在陆地平面上时,通过激发驱动脚在x方向和y方向不同的一阶外弯曲振动模态,实现机器人的转弯爬行和向前爬行动作。本发明不仅重量轻,体积小,结构简单,且能够实现水路两栖。
Amphibious crawling robot based on piezoelectric driving and crawling method
一种基于压电驱动的水陆两栖爬行机器人及爬行方法
2025-02-14
Patent
Electronic Resource
Chinese
IPC: | B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen |
All-terrain multi-section multi-foot amphibious crawling robot
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