Research On Amphibian Walking Mechanism And Control Methodology Of Crab-liked Robot

The National Natural Science provides funding for the project "Research of Crab-liked Robot", which develops the mechanism and controlling system of the crab-liked robot's prototype and researches the theory and control mode of amphibious walking based on the complex obstacle surroundings. In the beginning of this paper, the author presents the present status of the research in related areas domestic and abroad and the literature of the recent structure design, control mode and walking theory of multi-legged robots.In order to develop the multi-legged bionic robot with the biologic primary form crabs living in river, the author completes the following work: designing the mechanical body of the robot, establishing the geometry model, designing the force transducer, analyzing the amphibious kinematics and dynamics model, establishing the controlling system and researching the reflection control of obstacle based on the force feedback. In the paper, all of the above work is introduced.First of all, the author generally analyzes the common joint structure and driving manners of multi-legged robots. He summarizes the limitations of former designs and improves the crab-leg of the robot, and also, based on the agility of multi-legged robot, he designs and analyzes the body of the robot and distributes the legs on the body according to the crab-leg's distribution. Since the robot is amphibious, it should be airtight and it is sealed through integral flexible cavity method. Through lots of researches, divided airtight coat and its bonding technology is adopted, and the model of the coat is produced by rapid modeling technology. After experiments, this sealing method is proved to be feasible and reliable.Then, according to the total requirement, a sublevel triple-layer controlling system is developed, and in the system, the driving circuit of lower system, double closed-loop control of DC motor, acquisition of force transducer, ultrasonic transducer and electronicgyro compass, software and hardware module of bus communication etc. are designed. Meanwhile, reflection module is developed as the feedback of the surroundings to control the walking of the...