CN210633667U - Modularization snake-shaped robot - Google Patents
Modularization snake-shaped robot Download PDFInfo
- Publication number
- CN210633667U CN210633667U CN201920862053.2U CN201920862053U CN210633667U CN 210633667 U CN210633667 U CN 210633667U CN 201920862053 U CN201920862053 U CN 201920862053U CN 210633667 U CN210633667 U CN 210633667U
- Authority
- CN
- China
- Prior art keywords
- platform
- plate
- deformation
- connecting plate
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model discloses a modularization snake-shaped robot, this robot include the motion module of a plurality of series connection, and each motion module includes respectively again: the circuit board is arranged on the surface of the movable platform, and the static platform and the movable platform are connected through a plurality of connecting branched chains; the utility model discloses perfect the design of parallelly connected structure between modularization unit on modularization snake-shaped robot basis in the past, can realize action such as wriggling, twist reverse. The snake-shaped robot has different adaptive configurations facing different types of environments by additionally arranging parameters such as voltage, current, torque and the like when the sensor monitors the robot to move, has an innovative parallel mechanism, can be assembled in a modularized mode according to actual conditions, can realize actions such as creeping, winding, turning, obstacle avoidance, pipeline climbing and the like, and has practical application value in complex environments such as pipeline detection, disaster sites and the like.
Description
Technical Field
The utility model belongs to the technical field of bionic robot, concretely relates to modularization snake-shaped robot.
Background
As a novel bionic robot, the snake-shaped robot realizes the 'limb-free motion' like a snake, has the characteristics of small volume, multiple joints, multiple degrees of freedom, multiple motion modes and the like, and can adapt to various terrain requirements by changing the motion form of the snake-shaped robot. At present, in order to vividly simulate the motion form of a natural snake, the snake-shaped robot adopts a modular unit design similar to a snake micro vertebral structure unit. Each module unit is the same and is provided with an independent control and driving system, the tiny units are connected in series to form a complete snake body structure, and various movement forms of the snake are realized through coordination and coordination among the units.
The existing research provides an expandable continuum robot based on a paper folding mechanism, the robot has a folding skeleton and vertebra integrated structure, and the robot can flexibly realize stretching and bending motions. The paper folding mechanism generally adopts a symmetrical structure, has good isotropy, is easy to solve in a position reversal mode, can be conveniently controlled, has high bearing capacity, can realize various complex motions, and has good space ductility and can realize various folding motions. However, how to realize the simulation of the snake-shaped robot by using the paper folding mechanism and how to integrate the control system into the modular structure still needs to be researched.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art not enough, provide a modularization snake-like robot.
The utility model discloses a realize through following technical scheme:
a modular serpentine robot comprising a plurality of serially connected motion modules, each motion module in turn comprising: the circuit board is arranged on the surface of the movable platform, and the static platform and the movable platform are connected through a plurality of connecting branched chains;
the connecting branched chain comprises a motor base, a motor, a coupler mounting base, a coupler, a potentiometer and a movable plate type connecting mechanism; the motor base is arranged on the surface of the movable platform, the motor is arranged in the motor base, the coupler mounting base is arranged on the surface of the static platform, and the movable plate type connecting mechanism is respectively arranged on the motor base and the coupler mounting base through couplers; the potentiometer is arranged on the coupler on one side of the movable platform and is used for measuring the rotating angle of the movable plate type connecting mechanism.
In the technical scheme, the movable plate type connecting mechanism comprises a movable platform connecting plate, a static platform connecting plate, a first deformation plate, a second deformation plate, a third deformation plate and a fourth deformation plate, bending swing joint is realized by pasting the static platform connecting plate with the first and third deformation plates through pasters, bending swing joint is realized by pasting the movable platform connecting plate with the second and fourth deformation plates through pasters, bending swing joint is realized by pasting the first and second deformation plates through pasters, bending swing joint is realized by pasting the third and fourth deformation plates through pasters, each connecting wire is intersected at one point, and a square hole is formed in the middle of each deformation plate.
In the above technical scheme, be 60 degrees angles between first, third shape change board and the quiet platform connecting plate, be 60 degrees angles between second, fourth shape change board and the movable platform connecting plate.
In the above technical scheme, the static platform connecting plate and the movable platform connecting plate are provided with 2 insertion plates butted with the coupler, and the insertion plates are provided with mounting holes.
In the technical scheme, the motor base is fixedly connected with the movable platform through the mounting hole in the bottom plate, the bottom plate is L-shaped, a U-shaped groove used for placing the output shaft is formed in one side of the bottom plate, and a supporting shaft is formed in the other side of the bottom plate.
In the above technical scheme, the motor is installed in the motor cabinet, and is fixed with the motor cabinet through the bolt.
In the above technical scheme, the shaft coupling includes a movable platform transmission shaft coupling and a movable platform driven shaft coupling which are used for being installed on the motor base and connected with the movable platform connecting plate, and 2 static platform shaft couplings which are used for being installed on the shaft coupling installation base and connected with the static platform connecting plate.
In the technical scheme, the movable platform transmission coupler is installed on an output shaft of the motor through a first shaft hole, the first deformation plate installation groove is used for placing the movable platform connecting plate inserting plate, and the first bolt hole is used for placing the bolt and screwing the fixed movable platform connecting plate.
In the technical scheme, move platform driven coupling and pass through the second shaft hole and install on the back shaft of motor cabinet, the second board mounting groove that deforms is used for putting into and moves platform connecting plate picture peg, and the second bolt hole is used for putting into the bolt and screws fixedly and moves the platform connecting plate, it is formed with the potentiometre arm lock to move platform driven coupling and be close to motor cabinet one side, is formed with the potentiometre mounting hole around the second shaft hole between the potentiometre arm lock.
In the technical scheme, the potentiometer is installed between the potentiometer clamping arms of the movable platform driven coupler, the supporting shaft of the motor base penetrates through the third shaft hole in the potentiometer, and the positioning bulge in the potentiometer is embedded into the potentiometer mounting hole in the movable platform driven coupler.
In the technical scheme, the coupler mounting seat is fixedly connected with the static platform through the screw hole in the base plate, the two sides of the coupler mounting seat are provided with the symmetrical supporting arms, and the static platform coupler is mounted on the two supporting arms in the same mounting mode as the movable platform transmission coupler.
The utility model provides a control system of modularization snake-shaped robot, includes main control board, motor drive board, gyroscope, motor and potentiometre, main control board, motor drive board install in moving the platform surface and link to each other with each motor, potentiometre, and the motor drive board between each motion module establishes ties mutually, the main control board receives the input value, transmits joint angle instruction to motor drive board, and motor drive board driving motor rotates the angle of formulating to gather the corner of motor through the potentiometre, be used for gathering the actual gesture information of each motion module and transmitting to the main control board.
In the above technical solution, the model of the electric control board is ESP 32.
In the technical scheme, the motor is a JGA1024-N20 speed reduction motor.
In the above technical solution, the potentiometer is of the type RDC 503013A.
In the above technical solution, the gyroscope model is JY 901.
The utility model discloses an advantage and beneficial effect do:
1. the utility model is provided with the bolt holes below the deformation plate and is arranged with the shaft coupling, so that the installation and the disassembly between the deformation plate and the shaft coupling are more convenient; a potentiometer is additionally arranged between the coupler and the motor base, and the bending angle of the motion module is measured in real time;
2. the utility model fixes the position of the motor through the matching of the motor base and the motor, is simple and convenient to install and is not easy to loose;
3. the utility model discloses an angle between each deformation board is changed from 45 degrees 90 degrees to 60 degrees, reduces middle fretwork size simultaneously, and the structure after this kind of improvement not only can increase the length of each board hookup location, makes the motion compacter, has increased the length of this paper folding mechanism simultaneously, and the area of contact with the ground is bigger in the process of actual motion, and frictional force is also bigger, can guarantee the realization of motion under more smooth environment;
4. the utility model discloses perfect the design of parallelly connected structure between modularization unit on modularization snake-shaped robot basis in the past, can realize action such as wriggling, twist reverse. The snake-shaped robot has different adaptive configurations facing different types of environments by additionally arranging parameters such as voltage, current, torque and the like when the sensor monitors the robot to move, has an innovative parallel mechanism, can be assembled in a modularized mode according to actual conditions, can realize actions such as creeping, winding, turning, obstacle avoidance, pipeline climbing and the like, and has practical application value in complex environments such as pipeline detection, disaster sites and the like.
Drawings
Figure 1 is the utility model discloses in a modularization snake-shaped robot's overall structure schematic diagram.
Fig. 2 is the utility model discloses in a motion module structure sketch map one of modularization snake-shaped robot.
Fig. 3 is the utility model discloses in a motion module structure schematic diagram of modularization snake-shaped robot two.
FIG. 4 is a schematic diagram of a deformable plate.
Fig. 5 is a schematic structural view of a motor base.
Fig. 6 is a schematic view of the motor structure.
Fig. 7 is a schematic structural diagram of a movable platform transmission coupling.
Fig. 8 is a schematic diagram of a second structure of the transmission coupling of the movable platform.
Fig. 9 is a schematic structural diagram of a movable platform driven coupling.
Fig. 10 is a structural schematic diagram of a driven coupling of the movable platform.
FIG. 11 is a schematic diagram of a potentiometer.
Fig. 12 is a schematic structural view of a coupler mounting seat.
Fig. 13 is a schematic view of a circuit board mounting position.
Fig. 14 is a control system schematic.
Wherein: 1 is a motion module, 2 is a static platform, 3 is a movable platform, 4 is a coupler mounting seat, 4-1 is a base plate, 4-2 is a supporting arm, 4-3 is a screw hole, 5 is a static platform coupler, 6 is a static platform connecting plate, 7 is a first deformation plate, 8 is a second deformation plate, 9 is a third deformation plate, 10 is a fourth deformation plate, 11 is a movable platform connecting plate, 12 is a movable platform transmission coupler, 12-1 is a first deformation plate mounting groove, 12-2 is a first bolt hole, 12-3 is a first shaft hole, 13 is a movable platform driven coupler, 13-1 is a second deformation plate mounting groove, 13-2 is a second shaft hole, 13-3 is a second bolt hole, 13-4 is a potentiometer mounting hole, 13-5 is a potentiometer clamping arm, 14 is a motor seat, 14-1 is a base plate, 14-2 is a supporting shaft, 14-3 is a mounting hole, 14-4 is a U-shaped groove, 15 is a motor, 15-1 is an output shaft, 16 is a mounting hole, 17 is a potentiometer, 17-1 is a positioning protrusion, 17-2 is a third shaft hole, 18 is a circuit board, and 19 is a square hole.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make the technical field person understand the solution of the present invention better, the technical solution of the present invention is further described below with reference to the specific embodiments.
Example 1
A modular serpentine robot comprising a plurality of serially connected motion modules, each motion module in turn comprising: the circuit board is arranged on the surface of the movable platform, and the static platform and the movable platform are connected through a plurality of connecting branched chains;
the connecting branched chain comprises a motor base, a motor, a coupler mounting base, a coupler, a potentiometer and a movable plate type connecting mechanism; the motor base is arranged on the surface of the movable platform, the motor is arranged in the motor base, the coupler mounting base is arranged on the surface of the static platform, and the movable plate type connecting mechanism is respectively arranged on the motor base and the coupler mounting base through couplers; the potentiometer is arranged on the coupler on one side of the movable platform and is used for measuring the rotating angle of the movable plate type connecting mechanism.
The movable plate type connecting mechanism comprises a movable platform connecting plate, a static platform connecting plate, a first deformation plate, a second deformation plate, a third deformation plate and a fourth deformation plate, wherein bending swing joint is realized between the static platform connecting plate and the first and third deformation plates through sticker pasting, bending swing joint is realized between the movable platform connecting plate and the second and fourth deformation plates through sticker pasting, bending swing joint is realized between the first and second deformation plates through sticker pasting, bending swing joint is realized between the third and fourth deformation plates through sticker pasting, each connecting wire is intersected at one point, and a square hole is formed in the middle of each deformation plate.
Be 60 degrees angles between first, third deformation board and the quiet platform connecting plate, be 60 degrees angles between second, fourth deformation board and the movable platform connecting plate.
The static platform connecting plate and the movable platform connecting plate are provided with 2 insertion plates which are in butt joint with the coupler, and mounting holes are formed in the insertion plates.
The motor cabinet is connected with the movable platform through a mounting hole in the bottom plate and is fixed, the bottom plate is L-shaped, a U-shaped groove used for placing the output shaft is formed in one side of the bottom plate, and a supporting shaft is formed in the other side of the bottom plate.
The shaft coupling is including being used for installing on the motor cabinet, moving platform transmission shaft coupling, the driven shaft coupling of moving platform that is connected with the moving platform connecting plate to and be used for installing in the shaft coupling mount pad, 2 quiet platform shaft couplings that are connected with quiet platform connecting plate.
The movable platform transmission coupler is installed on an output shaft of the motor through a first shaft hole, the first deformation plate installation groove is used for placing a movable platform connecting plate inserting plate, and the first bolt hole is used for placing a bolt to screw and fix the movable platform connecting plate.
Move platform driven coupling and pass through the second shaft hole and install on the back shaft of motor cabinet, the second is deformed the board mounting groove and is used for putting into and moves platform connecting plate picture peg, and the second bolt hole is used for putting into the bolt and screws fixedly and moves the platform connecting plate, it is formed with the potentiometre arm lock to move platform driven coupling and be close to motor cabinet one side, is formed with the potentiometre mounting hole around the second shaft hole between the potentiometre arm lock.
The potentiometer is installed between potentiometer clamping arms of the movable platform driven coupler, a supporting shaft of the motor base penetrates through a third shaft hole in the potentiometer, and a positioning bulge in the potentiometer is embedded into a potentiometer mounting hole in the movable platform driven coupler.
The shaft coupling mount pad passes through the screw on the base plate and is connected fixedly with quiet platform, and both sides are formed with the support arm of symmetry, quiet platform shaft coupling is installed on two support arms through the same mounting means with moving platform transmission shaft coupling.
Example 2
The utility model provides a control system of modularization snake-shaped robot, includes main control board, motor drive board, gyroscope, motor and potentiometre, main control board, motor drive board install in moving the platform surface and link to each other with each motor, potentiometre, and the motor drive board between each motion module establishes ties mutually, the main control board receives the input value, transmits joint angle instruction to motor drive board, and motor drive board driving motor rotates the angle of formulating to gather the corner of motor through the potentiometre, be used for gathering the actual gesture information of each motion module and transmitting to the main control board.
The electronic control board is model ESP 32.
The motor model is a JGA1024-N20 speed reducing motor,
the potentiometer is of the type RDC 503013A.
The model of the gyroscope is JY 901.
According to different communication modes and element voltage supplies, a schematic diagram of the circuit board is firstly drawn and is shown in fig. 14, wherein the power supply is divided into an external power supply and a 3.3V circuit voltage reduced by a voltage reducing plate, the Beetle-ESP32, the adapter plate and the gyroscope JY901 are all 3.3V and need voltage reduction, so that the voltage reducing plate supplies power, and the driving plates of other elements, motors and the like are directly supplied with power by the external power supply. The communication mode is IIC and RX/TX serial port communication, the gyroscope is communicated with the main control board through the IIC, and the driving board and the main control board control the angle of the motor through serial port communication in series to achieve snake-like movement. The joints are required to be independently controlled to meet the control requirement during snake-like motion, so that the speed reduction motor for controlling each joint is used for controlling the snake-like robot. The control system adopts Python language to compile a control program, an upper computer receives real-time parameters such as joint angle, PID (proportion integration differentiation) size, minimum error, real-time temperature, axial acceleration, angular velocity, axial magnetic field, axial angle, longitude, latitude, GPS (global positioning system) of the snake-shaped robot from the Beetle-ESP32 general control, and parameters such as function setting joint angle, PID size and minimum error can be called to control the motion of the robot. Most state parameters are monitored by the gyroscope JY901 module and fed back to an upper computer, the module integrates a high-precision gyroscope, an accelerometer and a geomagnetic field sensor, and the current real-time motion attitude of the module can be rapidly solved by adopting a high-performance microprocessor and an advanced dynamic solution and Kalman dynamic filter algorithm. The module adopts a stamp hole gold plating process, is suitable for being embedded into a PCB, has comprehensive performance and volume, and is one of the best choices of the existing attitude angle sensor. The data are processed and transmitted through Beetl-ESP 32 master control soldered on a PCB, and the data can be transmitted through WiFi wireless communication or through a self-contained Micro-USB direct connection computer upper computer. When the robot moves, the master control board processes real-time data returned from the JY901 gyroscope and the motor drive board and sends out control instructions, the data are transmitted through lines arranged in advance and printed on the PCB, and the data are transmitted out of the PCB from the adapter plate to the drive board. The motors are communicated in an asynchronous serial bus mode through the driving plates, the baud rate is 115200, and 253 steering engines can be connected and controlled theoretically, so that the design requirement of the snake-shaped robot can be met. All motors can be controlled in a unified mode through a computer upper computer by using a UART asynchronous serial interface, all motors have a public ID number (NO.121), and meanwhile, each motor can also be set with a unique corresponding ID number, so that one motor can be controlled independently, and a plurality of motors can be controlled to move in a matched mode. And the motor mode can be changed through function call, and a plurality of parameters such as the current motor state, PID control parameter values and the like can be obtained. The driving plate sends out drive command control gear motor's angle, and series communication between a plurality of driving plates. After numbering gear motor in advance, the drive plate can be according to serial number send instruction, and a plurality of gear motor work of simultaneous control, and then realize a series of bionic motion of snake-shaped robot, like wriggling, wriggling and climbing pipeline etc..
In conclusion, the system adopts the Beetle-ESP32 as a main control board, integrates all components and the main control board on the PCB through the design of the Altium Designer software and the printed circuit board, and transmits control instructions to the PCB through the Python language and the computer upper computer to control all joint motors, thereby realizing the snake-like motion.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
The invention has been described above by way of example, and it should be noted that any simple variants, modifications or other equivalent substitutions by a person skilled in the art without spending creative effort may fall within the scope of protection of the present invention without departing from the core of the present invention.
Claims (10)
1. A modular snake robot, characterized in that: including a plurality of motion modules of establishing ties, each motion module includes respectively again: the circuit board is arranged on the surface of the movable platform, and the static platform and the movable platform are connected through a plurality of connecting branched chains;
the connecting branched chain comprises a motor base, a motor, a coupler mounting base, a coupler, a potentiometer and a movable plate type connecting mechanism; the motor base is arranged on the surface of the movable platform, the motor is arranged in the motor base, the coupler mounting base is arranged on the surface of the static platform, and the movable plate type connecting mechanism is respectively arranged on the motor base and the coupler mounting base through couplers; the potentiometer is arranged on the coupler on one side of the movable platform and is used for measuring the rotating angle of the movable plate type connecting mechanism.
2. The modular serpentine robot of claim 1, wherein: the movable plate type connecting mechanism comprises a movable platform connecting plate, a static platform connecting plate, a first deformation plate, a second deformation plate, a third deformation plate and a fourth deformation plate, wherein bending swing joint is realized between the static platform connecting plate and the first and third deformation plates through sticker pasting, bending swing joint is realized between the movable platform connecting plate and the second and fourth deformation plates through sticker pasting, bending swing joint is realized between the first and second deformation plates through sticker pasting, bending swing joint is realized between the third and fourth deformation plates through sticker pasting, each connecting wire is intersected at one point, and a square hole is formed in the middle of each deformation plate.
3. The modular serpentine robot of claim 2, wherein: be 60 degrees angles between first deformation board, third deformation board and the quiet platform connecting plate, second deformation board, fourth deformation board and move and be 60 degrees angles between the platform connecting plate.
4. The modular serpentine robot of claim 2, wherein: the static platform connecting plate and the movable platform connecting plate are provided with 2 insertion plates which are in butt joint with the coupler, and mounting holes are formed in the insertion plates.
5. The modular serpentine robot of claim 1, wherein: the motor cabinet is connected with the movable platform through a mounting hole in the bottom plate and is fixed, the bottom plate is L-shaped, a U-shaped groove used for placing the output shaft is formed in one side of the bottom plate, and a supporting shaft is formed in the other side of the bottom plate.
6. The modular serpentine robot of claim 1, wherein: the shaft coupling is including being used for installing on the motor cabinet, moving platform transmission shaft coupling, the driven shaft coupling of moving platform that is connected with the moving platform connecting plate to and be used for installing in the shaft coupling mount pad, 2 quiet platform shaft couplings that are connected with quiet platform connecting plate.
7. The modular serpentine robot of claim 6, wherein: the movable platform transmission coupler is installed on an output shaft of the motor through a first shaft hole, the first deformation plate installation groove is used for placing a movable platform connecting plate inserting plate, and the first screw hole is used for placing a screw to screw and fix the movable platform connecting plate.
8. The modular serpentine robot of claim 6, wherein: move platform driven coupling and pass through the second shaft hole and install on the back shaft of motor cabinet, the second is deformed the board mounting groove and is used for putting into and moves platform connecting plate picture peg, and the second screw hole is used for putting into the screw and screws fixedly and moves the platform connecting plate, it is formed with the potentiometre arm lock to move platform driven coupling and be close to motor cabinet one side, is formed with the potentiometre mounting hole around the second shaft hole between the potentiometre arm lock.
9. The modular serpentine robot of claim 1, wherein: the potentiometer is installed between potentiometer clamping arms of the movable platform driven coupler, a supporting shaft of the motor base penetrates through a third shaft hole in the potentiometer, and a positioning bulge in the potentiometer is embedded into a potentiometer mounting hole in the movable platform driven coupler.
10. The modular serpentine robot of claim 6, wherein: the shaft coupling mount pad passes through the screw on the base plate and is connected fixedly with quiet platform, and both sides are formed with the support arm of symmetry, quiet platform shaft coupling is installed on two support arms through the same mounting means with moving platform transmission shaft coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920862053.2U CN210633667U (en) | 2019-06-10 | 2019-06-10 | Modularization snake-shaped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920862053.2U CN210633667U (en) | 2019-06-10 | 2019-06-10 | Modularization snake-shaped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210633667U true CN210633667U (en) | 2020-05-29 |
Family
ID=70790456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920862053.2U Expired - Fee Related CN210633667U (en) | 2019-06-10 | 2019-06-10 | Modularization snake-shaped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210633667U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154007A (en) * | 2019-06-10 | 2019-08-23 | 天津大学 | A kind of modularization snake-shaped robot and its control system |
| CN115056873A (en) * | 2022-05-31 | 2022-09-16 | 杭州电子科技大学 | Bionic earthworm robot and advancing method thereof |
-
2019
- 2019-06-10 CN CN201920862053.2U patent/CN210633667U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154007A (en) * | 2019-06-10 | 2019-08-23 | 天津大学 | A kind of modularization snake-shaped robot and its control system |
| CN115056873A (en) * | 2022-05-31 | 2022-09-16 | 杭州电子科技大学 | Bionic earthworm robot and advancing method thereof |
| CN115056873B (en) * | 2022-05-31 | 2023-10-20 | 杭州电子科技大学 | Bionic earthworm robot and advancing method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210633667U (en) | Modularization snake-shaped robot | |
| CN103129640B (en) | Novel six-foot robot | |
| CN110154007A (en) | A kind of modularization snake-shaped robot and its control system | |
| US8321053B2 (en) | Flexible two-wheeled self-balancing robot system and its motion control method | |
| Murata et al. | Hardware design of modular robotic system | |
| Jorgensen et al. | Modular ATRON: Modules for a self-reconfigurable robot | |
| CN108818493A (en) | A kind of compound mobile robot and compound Mobile Robot Control System | |
| CN102445944A (en) | Single-wheel self-balancing robot system | |
| CN109434815B (en) | CPG model-based snake-shaped robot and joint track/rigidity control method thereof | |
| CN105128032A (en) | Snake-shaped robot with nuclear equipment pipeline detecting function | |
| CN108312146B (en) | Modularized robot decentralized control method and system | |
| CN111216121A (en) | Intelligent industrial robot control system | |
| CN103646004A (en) | Modularized miniature smart car hardware system and method for constructing miniature smart car | |
| CN110154008A (en) | Snakelike/quadruped robot based on mimicry | |
| CN103777634A (en) | Large-size spherical robot control system | |
| CN211844683U (en) | Bionic robot | |
| CN201229713Y (en) | College version intelligent robot modular system | |
| CN112370313A (en) | System and method for testing lower limb exoskeleton capable of offsetting gravity | |
| CN102815347A (en) | Modularized reconfigurable single-link crawling robot and marching method thereof | |
| CN205310298U (en) | Underwater manipulator with high -pressure spray wash device | |
| CN111152260A (en) | Joint corner auxiliary measurement system and method for serial rotary joint mechanical arm | |
| CN110682303A (en) | Intelligent robot training device, control system and method | |
| CN213930449U (en) | Double-claw type pole-climbing robot system | |
| CN101976518B (en) | Intelligent walking robot teaching aid | |
| CN113325815A (en) | DCS system for monitoring and diagnosing industrial field environment and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200529 Termination date: 20210610 |