可变姿态扑翼腿水陆两栖机器人设计  

Design of Amphibious Robot with Variable Attitude Flapping Wing Legs

作　　者：高健乔 查江涛 李桐 孙羽翀 GAO Jianqiao;ZHA Jiangtao;LI Tong

机构地区：[1]哈尔滨工程大学,哈尔滨150001

出　　处：《科技创新与应用》2023年第23期13-17,共5页Technology Innovation and Application

摘　　要：为解决传统水陆两栖机器人的水陆推进机构分离、结构配合的复杂性问题。该文设计一款采用柔性可变姿态的腿部机构实现水陆行进机构一体化的机器人,水中采用串列扑翼姿态,可实现低速下的多自由度机动动作,陆地上采用腿部步态对各种崎岖地形和障碍物的适应能力更强。为非常规推进方式的水陆两栖机器人的机构简化提供一种新思路。In order to solve the complex problems of separation and structure coordination of the traditional amphibious robot.In this paper,a flexible and variable attitude leg mechanism is designed to realize the integration of water and land moving robot.In water,the tandem flapping wing posture can realize the multi-degree of freedom maneuvering action at low speed.On land,the leg gait has stronger adaptability to various rugged terrain and obstacles.All this provides a new way to simplify the mechanism of amphibious robot with unconventional propulsion.

关 键 词：可变姿态 扑翼 水陆两栖 机器人 六自由度运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]