CN108466687A - One kind fast moving type Bionic water strider robot and its working method - Google Patents
One kind fast moving type Bionic water strider robot and its working method Download PDFInfo
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- CN108466687A CN108466687A CN201810595275.2A CN201810595275A CN108466687A CN 108466687 A CN108466687 A CN 108466687A CN 201810595275 A CN201810595275 A CN 201810595275A CN 108466687 A CN108466687 A CN 108466687A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/32—Flaps, pistons, or the like, reciprocating in propulsive direction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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Abstract
The present invention is that one kind fast moving type Bionic water strider robot and its working method, is related to bio-robot field, is fast moved to solve the problem of that robot servo driving responds slower can not achieve, the present invention includes drive mechanism and support construction；Drive mechanism includes that strike leg, right side of pedestal, right side connecting rod, left side connecting rod, motor, left motor axis, right motor axis, left side is struck leg, left side universal joint, right side universal joint, bottom plate, pedestal, right side connecting rod, left side connecting rod, motor, left motor axis, right motor axis form crank-rocker structure, and pedestal, left side universal joint, right side universal joint, is fixed on plate upper surface at motor；Floating body is done using the floating drum of four strips, stronger using the buoyancy load capacity of water, robot support construction length-width ratio reaches 6：1, pitching performance is greatly improved under high sea；Crank and rocker mechanism drives leg of striking, and clapping water by leg of striking travels forward, it can be achieved that fast moving.
Description
Technical field
The present invention relates to bio-robot fields, and in particular to a kind of Bionic water strider robot fast moved.
Background technology
Ten million kind of biology present on the world today, be all by 1 years adaptation, evolve, develop, this makes
Certain position wonderful workmanships excelling nature of organism, biological nature tend to be perfect, be provided with most rationally, the design feature that optimizes, flexibly
Kinetic characteristic and good adaptability and survival ability.Since ancient times, colourful nature constantly excites the mankind's
Desire is explored, is always that the mankind generate various technological thoughts and irreplaceable, the inexhaustible repository of innovation and creation inspiration
And source of studying.Studying from nature learns to nature, using bionics principle, design, the machine of development of new, equipment, material
It is one of the research field of fast development in recent years with complete bionic system.Bio-robot is that bionics is led with robot
The combination product of domain application demand.From the perspective of robot, bio-robot is then the advanced stage of robot development.It is raw
Object characteristic provides many beneficial references for the design of robot so that robot can learn from organism as adaptive
A series of good performances such as property, robustness, motion versatility and flexibility.Bio-robot can be divided into according to its working environment
Three kinds of land face bio-robot, aerial bio-robot and underwater bionic robot.In addition, there is some research institutions to work out
Amphibious robot, water sky amphibious robot etc. have the bio-robot of comprehensive purposes.Bio-robot has life simultaneously
The characteristics of object and robot, gradually anti-terrorism it is explosion-proof, explore space, rescue and relief work etc. is not suitable for undertaking task by people
Environment convexity shows good application prospect.Bio-robot development course is made a general survey of, experienced three phases till now.The
One stage was original exploration period, which is mainly the original imitation of biological prototype, such as original aircraft, simulated birds
Wing is fluttered, which drives mainly by manpower.To the middle and later periods in 20th century, the appearance due to computer technology and driving device
Innovation, bio-robot enters second stage, macroscopical profiling and motion biomimetics stage.The stage is mainly using electromechanical
System realizes the biological functions such as walking, jump, flight, and realizes a degree of artificial control.In the 21st century, with
The mankind
It deepens continuously to biosystem functional character, formation mechenism understanding and the development of computer technology, bionical machine
Device people enters three phases, and Mechatronic Systems starts to carry out partial fusion with biological property, such as traditional structure and biomimetic material
Fusion and bionical driving utilization.Currently, bionical with deep, intelligent control technology the development of biomechanism understanding
Robot forward direction four-stage development, i.e. structure and the integrated class life system of biological nature, emphasize bio-robot not
Only have zoic morphological feature and motion mode, is provided simultaneously with the performance characteristics such as self perception, self-contr ol of biology, more connects
Nearly biological prototype.
Bio-robot technology has become the hot spot of various countries' research, and biology fits environment by evolution in up to ten thousand years
Should be able to power greatly enhance, and water skipper is as a kind of water surface biology, mobile flexible, strikes efficient, for the mankind it is bionical provide and
One thinking.Lot of domestic and international mechanism all in the mechanism of research water skipper movement, makes every effort to complete bionical in realization motor behavior mode,
Usually there are two types of bionical thinking, one is the bionical of operation mechanism, imitative water strider robot is by being coated with the support of hydrophobic coating
Leg floats on the surface, and support leg will not puncture the water surface, and what is utilized is the surface tension of water, and robot, which advances, also depends on the surface of water
Tension, the shortcomings of doing so are that its load capacity is smaller, and capacity of anti-storm is weak；Another thinking is the bionical of form,
Imitative water strider robot is floated on the surface using the buoyancy of water, and leg of striking is by servo driving, its shortcoming is that steering engine response is slower,
The speed of service is slow, can not realize the complete bionical of swinging track.
Invention content
Smaller, the slower problem of the speed of service is loaded for the above Bionic water strider robot, the present invention proposes a kind of fast
Fast mobile model Bionic water strider robot and its working method.
The present invention adopts the following technical scheme that：
One kind fast moving type Bionic water strider robot, specifically includes drive mechanism and support construction；Drive mechanism includes
It draws on strike leg 8, right side of pedestal 1, right side connecting rod 2, left side connecting rod 11, motor 3, left motor axis 7, right motor axis 13, left side
Water leg 12, left side universal joint 9, right side universal joint 14, bottom plate 10, pedestal 1, right side connecting rod 2, left side connecting rod 11, motor 3, left side
Motor shaft 7, right motor axis 13 form crank-rocker structure, and the left side connecting rod 11 in crank-rocker structure and left side are struck leg 8
It is connected, right side connecting rod 2 and right side leg 12 of striking are connected, and left side leg 8 of striking is fixed on by left side universal joint 9 on bottom plate 10, the right side
Side leg 12 of striking is fixed on by right side universal joint 14 on bottom plate 10；Support construction includes preceding floating body 15, rear floating body 5, forebay
16, afer bay 4 and fixed link 6, preceding floating body 15 are connected with forebay 16, and rear floating body 5 is connected with afer bay 4, fixed link 6 and preceding machine
Frame 16 is connected jointly with afer bay 4, and support construction is fixed on 10 lower surface of bottom plate, right side electricity by forebay 16 and afer bay 4
Machine 3 is connected with right motor axis 13, and left motor 17 is connected with left motor axis 7, pedestal 1, motor 3, left side universal joint 9, the right side
Side universal joint 14 is fixed on 10 upper surface of bottom plate.
The crank-rocker structure specifically includes：
Right side connecting rod 2 is movably linked to 1 side of pedestal by conduit, and left side connecting rod 11 is movably linked to pedestal by conduit
1 other side；Connecting rod 2 other end in right side is connected with the right motor axis 13 in 3 outside of right motor, 11 other end of left side connecting rod and a left side
The left motor axis 7 in 17 outside of side motor is connected；Using being flexibly connected between connecting rod and universal joint, left side is struck 8 taper end of leg
It is connected with left side connecting rod 11, right side 12 taper end of leg of striking is connected with right side connecting rod 2, and bottom plate 10 is kept fixed.
The support construction specifically includes：
The floating drum that preceding floating body 15, rear floating body 5 are all made of strip round shape makees floating body, and preceding floating body 15 includes two symmetrical and complete
Identical floating body, rear floating body 5 are identical as preceding float structure；The Bionic water strider robot includes that left side is struck leg 8 and right side
The length-width ratio of leg 12 of striking is 2：1, remove that leg 8 is struck in left side and the strike length-width ratio of leg 12 of right side is 6：1.
One kind fast moving type Bionic water strider robot working method, specifically comprises the following steps：
(1) advance process：Left motor 17 drives left motor axis 7 to rotate clockwise, and left motor axis 7 drives left side to connect
Bar 11 moves, and left side connecting rod 11 drives left side to strike leg 8, and left side leg 8 of striking with left side universal joint 9 is that fulcrum does ellipticity pendulum
It is dynamic, meanwhile, strike leg 12, right side connecting rod 2, right side universal joint 14 of right motor 3, right motor axis 13, right side does same movement；
Left side leg 8 and right side leg 12 of striking of striking claps water backward jointly, and robot stress travels forward；
(2) fallback procedures：Left motor 17 drives the rotation counterclockwise of left motor axis 7, left motor axis 7 that left side is driven to connect
Bar 11 moves, and left side connecting rod 11 drives left side to strike leg 8, and left side leg 8 of striking with left side universal joint 9 is that fulcrum does ellipticity pendulum
It is dynamic, meanwhile, strike leg 12, right side universal joint 14 of right motor 3, right motor axis 13, right side connecting rod 2, right side does same movement；
Left side leg 8 and right side leg 12 of striking of striking claps forward water jointly, and robot stress moves backward；
(3) turning process：Left motor 17 drives left motor axis 7 to rotate clockwise, and left motor axis 7 drives left side to connect
Bar 11 moves, and left side connecting rod 11 drives left side to strike leg 8, and left side leg 8 of striking with left side universal joint 9 is that fulcrum claps water backward, right
Side motor 3 drives right motor axis 13 to rotate clockwise, and right motor axis 13 drives right side connecting rod 2 to move, and right side connecting rod 2 drives
Right side is struck leg 12, and right side leg 12 of striking with right side universal joint 14 is that fulcrum claps forward water, and robot turns left；17 band of left motor
7 rotation counterclockwise of dynamic left motor axis, left motor axis 7 drive left side connecting rod 11 to move, and left side connecting rod 11 drives left side to strike
Leg 8, left side leg 8 of striking with left side universal joint 9 is that fulcrum claps forward water, and right motor 3 drives the rotation counterclockwise of right motor axis 13
Turn, right motor axis 13 drives right side connecting rod 2 to move, and leg 12 of striking on the right side of the drive of right side connecting rod 2, leg 12 is struck with right side in right side
Universal joint 14 is that fulcrum claps water backward, and robot turns right.
The invention has the advantages that：The present invention does floating body using the floating drum of four strips, is loaded using the buoyancy of water
Ability is stronger, and robot support construction length-width ratio reaches 6：1, pitching performance is greatly improved under high sea；The present invention is using bent
The driving of handle rocker device is struck leg, and clapping water by leg of striking travels forward, it is stronger compared to using surface tension power, it can be achieved that
It fast moves.
Description of the drawings
Fig. 1 is Bionic water strider robot overall structure stereogram；
Fig. 2 is Bionic water strider robot overall structure side view；
Fig. 3 is Bionic water strider robot overall structure front view；
Fig. 4 is Bionic water strider robot overall structure vertical view；
Fig. 5 is Bionic water strider robot drive mechanism side view；
Fig. 6 is Bionic water strider robot support construction stereogram.
Specific implementation mode
It illustrates below in conjunction with the accompanying drawings and the present invention is described in more detail：
Fig. 1 is the overall structure stereogram of Bionic water strider robot, including drive mechanism and support construction；Drive mechanism packet
Include pedestal 1, right side connecting rod 2, left side connecting rod 11, motor 3, left motor axis 7, right motor axis 13, left side are struck leg 8, right side
It strikes leg 12, left side universal joint 9, right side universal joint 14, bottom plate 10 are pedestal 1, right side connecting rod 2, left side connecting rod 11, motor 3, left
Side motor shaft 7, right motor axis 13 form crank-rocker structure, and the left side connecting rod 11 in crank-rocker structure and left side are struck leg
8 are connected, and right side connecting rod 2 and right side leg 12 of striking are connected, and left side leg 8 of striking is fixed on by left side universal joint 9 on bottom plate 10, the right side
Side leg 12 of striking is fixed on by right side universal joint 14 on bottom plate 10；Support construction includes preceding floating body 15, rear floating body 5, forebay
16, afer bay 4 and fixed link 6, preceding floating body 15 are connected with forebay 16, and rear floating body 5 is connected with afer bay 4, fixed link 6 and preceding machine
Frame 16 is connected jointly with afer bay 4, and support construction is fixed on 10 lower surface of bottom plate, right side electricity by forebay 16 and afer bay 4
Machine 3 is connected with right motor axis 13, and left motor 17 is connected with left motor axis 7, pedestal 1, motor 3, left side universal joint 9, the right side
Side universal joint 14 is fixed on 10 upper surface of bottom plate.
Fig. 2 to Fig. 4 shows Bionic water strider robot overall structure side view, front view, vertical view respectively.
Fig. 5 shows Bionic water strider robot drive mechanism side view, drive mechanism include pedestal 1, right side connecting rod 2,
Strike leg 8, right side of left side connecting rod 11, motor 3, left motor axis 7, right motor axis 13, left side is struck leg 12, left side universal joint
9, right side universal joint 14, bottom plate 10, drive mechanism use crank-rocker structure, and crank-rocker structure includes pedestal 1, right side connecting rod
2, left side connecting rod 11, motor 3, left motor axis 7, right motor axis 13.Right side connecting rod 2 in crank-rocker structure passes through conduit
It is movably linked to 1 side of pedestal, left side connecting rod 11 is movably linked to 1 other side of pedestal by conduit；2 other end of right side connecting rod with
The right motor axis 13 in 3 outside of right motor is connected, the left motor axis 7 of 11 other end of left side connecting rod and 17 outside of left motor
It is connected；Using being flexibly connected between connecting rod and universal joint, left side 8 taper end of leg of striking is connected with left side connecting rod 11, and right side is struck
12 taper end of leg is connected with right side connecting rod 2, and bottom plate 10 is kept fixed.
Fig. 6 is Bionic water strider robot support construction stereogram.Support construction includes preceding floating body 15, rear floating body 5, forebay
16, afer bay 4 and fixed link 6, preceding floating body 15 are connected with forebay 16, and rear floating body 5 is connected with afer bay 4, fixed link 6 and preceding machine
Frame 16 is connected jointly with afer bay 4, and support construction is fixed on 10 lower surface of bottom plate, right side electricity by forebay 16 and afer bay 4
Machine 3 is connected with right motor axis 13, and left motor 17 is connected with left motor axis 7, pedestal 1, motor 3, left side universal joint 9, the right side
Side universal joint 14 is fixed on 10 upper surface of bottom plate.The floating drum that preceding floating body 15, rear floating body 5 are all made of strip round shape makees floating body, preceding floating
Body 15 includes two symmetrical and identical floating bodies, and rear floating body 5 is identical as preceding float structure；The Bionic water strider robot
Leg 8 is struck including left side and the strike length-width ratio of leg 12 of right side is 2：1, remove that leg 8 is struck in left side and right side is struck the length of leg 12
Wide ratio is 6：1, trim problem of the robot under high sea environment can be alleviated.
In conjunction with Fig. 1 to Fig. 6, Bionic water strider robot working method of the invention is as follows：
(1) advance process：Left motor 17 drives left motor axis 7 to rotate clockwise, and left motor axis 7 drives left side to connect
Bar 11 moves, and left side connecting rod 11 drives left side to strike leg 8, and left side leg 8 of striking with left side universal joint 9 is that fulcrum does ellipticity pendulum
It is dynamic, meanwhile, strike leg 12, right side connecting rod 2, right side universal joint 14 of right motor 3, right motor axis 13, right side does same movement；
Left side leg 8 and right side leg 12 of striking of striking claps water backward jointly, and robot stress travels forward；
(2) fallback procedures：Left motor 17 drives the rotation counterclockwise of left motor axis 7, left motor axis 7 that left side is driven to connect
Bar 11 moves, and left side connecting rod 11 drives left side to strike leg 8, and left side leg 8 of striking with left side universal joint 9 is that fulcrum does ellipticity pendulum
It is dynamic, meanwhile, strike leg 12, right side universal joint 14 of right motor 3, right motor axis 13, right side connecting rod 2, right side does same movement；
Left side leg 8 and right side leg 12 of striking of striking claps forward water jointly, and robot stress moves backward；
(3) turning process：Left motor 17 drives left motor axis 7 to rotate clockwise, and left motor axis 7 drives left side to connect
Bar 11 moves, and left side connecting rod 11 drives left side to strike leg 8, and left side leg 8 of striking with left side universal joint 9 is that fulcrum claps water backward, right
Side motor 3 drives right motor axis 13 to rotate clockwise, and right motor axis 13 drives right side connecting rod 2 to move, and right side connecting rod 2 drives
Right side is struck leg 12, and right side leg 12 of striking with right side universal joint 14 is that fulcrum claps forward water, and robot turns left；17 band of left motor
7 rotation counterclockwise of dynamic left motor axis, left motor axis 7 drive left side connecting rod 11 to move, and left side connecting rod 11 drives left side to strike
Leg 8, left side leg 8 of striking with left side universal joint 9 is that fulcrum claps forward water, and right motor 3 drives the rotation counterclockwise of right motor axis 13
Turn, right motor axis 13 drives right side connecting rod 2 to move, and leg 12 of striking on the right side of the drive of right side connecting rod 2, leg 12 is struck with right side in right side
Universal joint 14 is that fulcrum claps water backward, and robot turns right.
The specific course of work is as follows：Motor 3 drives motor shaft 7 to circle, end and 2 end of connecting rod of motor shaft 7
Portion is connected, then 2 setting in motion of connecting rod, and there are one conduits for 2 other end of connecting rod, and conduit is stuck on pedestal 1, due to depositing for conduit
Connecting rod 2 can be moved forward and backward with motor shaft 7；Leg 8 of striking extends through connecting rod 2 and realizes linkage, and leg 8 of striking is fixed on ten thousand
To on section 9, universal joint 9 plays fulcrum, thus the leg 8 that can to strike can realize the ellipse of leg of striking around some rotation
Round shape moves, and can obtain different ellipses by adjusting the length of motor 3, pedestal 1, the position of universal joint 9 and leg 8 of striking
Shape therefrom chooses best drive efficiency.The present invention does not need steering engine and does motive power, but directly drives link mechanism by motor
With leg movement of striking, thus device response is fast, and sliding speed is also fast.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (4)
1. one kind fast moving type Bionic water strider robot, specifically include：Bionic water strider robot includes drive mechanism and support
Structure；Drive mechanism includes pedestal 1, right side connecting rod 2, left side connecting rod 11, motor 3, left motor axis 7, right motor axis 13, a left side
Strike leg 8, right side of side is struck leg 12, and left side universal joint 9, right side universal joint 14, bottom plate 10, pedestal 1, right side connecting rod 2, left side connect
Bar 11, motor 3, left motor axis 7, right motor axis 13 form crank-rocker structure, the left side connecting rod in crank-rocker structure
(11) leg (8) of striking with left side is connected, and right side connecting rod (2) and right side leg (12) of striking are connected, and left side leg (8) of striking passes through left side
Universal joint (9) is fixed on bottom plate (10), and right side leg (12) of striking is fixed on by right side universal joint (14) on bottom plate (10)；Branch
Support structure includes preceding floating body (15), rear floating body (5), forebay (16), afer bay (4) and fixed link (6), and preceding floating body (15) is with before
Rack (16) is connected, and rear floating body (5) is connected with afer bay (4), fixed link (6) and forebay (16) and afer bay (4) common phase
Even, support construction is fixed on bottom plate (10) lower surface, right motor (3) and right side electricity by forebay (16) and afer bay (4)
Arbor (13) is connected, and left motor (17) is connected with left motor axis (7), pedestal (1), motor (3), left side universal joint (9), the right side
Side universal joint (14) is fixed on bottom plate (10) upper surface.
2. a kind of Bionic water strider robot according to claim 1, which is characterized in that the crank-rocker structure is specific
Including：
Right side connecting rod (2) is movably linked to pedestal (1) side by conduit, and left side connecting rod (11) is movably linked to base by conduit
Seat (1) other side；Connecting rod (2) other end in right side is connected with the right motor axis (13) on the outside of right motor (3), left side connecting rod
(11) other end is connected with the left motor axis (7) on the outside of left motor (17)；Between connecting rod and universal joint even using activity
It connects, left side leg (8) taper end of striking is connected with left side connecting rod (11), and right side leg (12) taper end of striking is connected with right side connecting rod (2), bottom
Plate 10 is kept fixed.
3. a kind of Bionic water strider robot according to claim 1, which is characterized in that the support construction is specifically wrapped
It includes：
The floating drum that preceding floating body (15), rear floating body (5) are all made of strip round shape makees floating body, and preceding floating body (15) includes two symmetrical and complete
Exactly the same floating body, rear floating body (5) are identical as preceding float structure；The Bionic water strider robot includes that left side is struck leg (8)
It is 2 with the strike length-width ratio of leg (12) of right side：1, remove that leg (8) is struck in left side and the strike length-width ratio of leg (12) of right side is 6：1.
4. one kind fast moving type Bionic water strider robot working method, specifically comprise the following steps：
(1) advance process：Left motor (17) drives left motor axis (7) to rotate clockwise, and left motor axis (7) drives left side
Connecting rod (11) moves, and left side connecting rod (11) drives left side to strike leg (8), left side strike leg (8) with left side universal joint (9) for fulcrum
Ellipticity swing is done, meanwhile, right motor (3), right motor axis (13), right side are struck leg (12), right side connecting rod (2), right side
Universal joint (14) does same movement；Left side leg (8) and right side leg (12) of striking of striking claps water backward jointly, and robot stress is forward
Movement；
(2) fallback procedures：Left motor (17) drives left motor axis (7) to rotate counterclockwise, and left motor axis (7) drives left side
Connecting rod (11) moves, and left side connecting rod (11) drives left side to strike leg (8), left side strike leg (8) with left side universal joint (9) for fulcrum
Ellipticity swing is done, meanwhile, right motor (3), right motor axis (13), right side connecting rod (2), right side are struck leg (12), right side
Universal joint (14) does same movement；Left side leg (8) and right side leg (12) of striking of striking claps forward water jointly, and robot stress is backward
Movement；
(3) turning process：Left motor (17) drives left motor axis (7) to rotate clockwise, and left motor axis (7) drives left side
Connecting rod (11) moves, and left side connecting rod (11) drives left side to strike leg (8), left side strike leg (8) with left side universal joint (9) for fulcrum
Water is clapped backward, and right motor (3) drives right motor axis (13) to rotate clockwise, and right motor axis (13) drives right side connecting rod
(2) move, right side connecting rod (2) drives right side to strike leg (12), right side strike leg (12) with right side universal joint (14) be fulcrum to
Preceding bat water, robot turn left；Left motor (17) drives left motor axis (7) to rotate counterclockwise, and left motor axis (7) drives left
Side connecting rod (11) moves, and left side connecting rod (11) drives left side to strike leg (8), and left side leg (8) of striking with left side universal joint (9) is branch
Point claps forward water, and right motor (3) drives right motor axis (13) to rotate counterclockwise, and right motor axis (13) drives right side connecting rod
(2) move, right side connecting rod (2) drives right side to strike leg (12), right side strike leg (12) with right side universal joint (14) be fulcrum to
After clap water, robot turns right.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091966A (en) * | 2019-05-31 | 2019-08-06 | 浙江大学 | A kind of overturn-preventing water strider robot of center of gravity automatic adjusument |
| CN111137421A (en) * | 2020-01-19 | 2020-05-12 | 浙江理工大学 | Bionic small-skinned shrimp underwater rowing device based on motor drive |
| CN111843993A (en) * | 2020-06-17 | 2020-10-30 | 北京新路道文化科技有限公司 | Large-scale double-wing dynamic exhibition robot structure |
| KR20210128279A (en) * | 2020-04-16 | 2021-10-26 | 대구가톨릭대학교산학협력단 | Wireless controlled biomimetic water strider robot |
| CN113954591A (en) * | 2021-09-23 | 2022-01-21 | 北京航空航天大学 | Electromagnetic-driven miniature amphibious robot |
| CN114055427A (en) * | 2021-12-13 | 2022-02-18 | 哈尔滨工业大学 | Water strider magnet imitating micro robot with flexible hinge and motion control method thereof |
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