Research On Control System On Flexible Gecko Robot

Geckos move fastly and flexibly on flats of different normal planes, such as walls and ceilings. By imitating gecko's climbing ability, climbing robots are created to work on vertical and some invert surfaces. This robot can adapt different rugged environments replacing people, thus it has wide application prospect and the research on climbing robots turns very meaningful to the robot technology. In this paper, a control system is proposed based on the flexible gecko robot, including the gait planning, hardware design and software design of the robot's control system.The current research situation of climbing robots and the research significance of the program are introduced, while the research of the adsorb method and the movement of climbing robots are analyzed. The emphasis is to introduce the study situation on the adsorb mechanism of current created climbing robots'soles. Then the main bionic structure of the gecko robot is described. The robot consists of four symmetrical legs with four bar linkage structure, and the sole of the robot's foot is made of micro and nano-scale conglutination array material. In connection with the gecko robot's flexibility characteristic, the paper provides a method based on CPG control and designes the gait planning. A distributed control system which based on AVR single chip computer is designed. In this part, the hardware and software of the control system are designed. The hardware is to build the drive system, master and slave system. During this section, it descripes the control theory of servo, meanwhile the integral circuit diagram of every module is designed. The software of the control system employs the upper-lower computer distributed control mode. Main tasks include the program of the master and the slave and studying the algorithm of the control signal. The program of the master is used to realize the gait planning and data delivering, while the program of the slave is used to receive and analyze the data from the master and to produce multichannel signals. The software of control system is translated and edited in the CodeVisionAVR environment, and is debugged in the AVR Studio environment.Through experiment, the control system of gecko robot designed in this paper could achieve the expected target, and it has the characteristic of light weight, high precision, robustness and strong counteracting disturbance. At last the gecko robot can move on plane and slope at an angle of thirty degrees.