Modeling And Simulation For A Bionic Beetle-liked Reconfigurable Robot

With the development of robot technology,the application of robot expands. In this case,people hope that robot can adapt to various work environment more flexibly and accomplishmore complex tasks. Because of its limitations of mechanical structure, traditional robot isdifficult to adapt to the changes in work environment and tasks. However, reconfigurable robotcan solve the problems. We apply the body structure and motion theory of beetle which has astrong ability to adapt to work environment in the study on reconfigurable robot and start atopic of Modeling and Simulation for a Bionic Beetle-liked Reconfigurable Robot. It's veryclear that, study on the bionic beetle-liked reconfigurable robot has an important theoreticalvalue and practical significance in performing special tasks in unstructured and unknownenvironment such as space and undersea exploration, military reconnaissance, nuclear powerplant maintenance, disaster relief and so on.The main research of this paper includes mechanical structure design of bionic beetle-likedreconfigurable robot, motion gait planning, kinematic modeling, dynamic modeling, motionsimulation and some other related problems.Firstly, the paper introduces the research status of reconfigurable robot and multi-leggedwalking robot at home and abroad in detail and gives the main content of the paper.Based on body structure features of beetle, the paper determines the freedom of robot andthe size of joints, design the reconfigurable unit and use three-dimensional modeling softwareSOLDWORKS to make up the complete physical model by robot mechanism theory and bionicrobot design method.Then, according to the characteristics of the motion of beetle, the paper carries the motiongait planning of the bionic beetle-liked reconfigurable robot out, designs the gait of walkingstraight and turning and gets the robot's foot end position vectors of different motion modes.These provide theoretical support for realizing stable walking of the robot.After that, the paper uses the D-H law to establish the coordinate of the bionic beetle-likedreconfigurable robot and homogeneous transformation method to complete the kinematicanalysis. Based on the result of the kinematic analysis, the dynamic model is built byLagrange method and some simulations are also finished.At last, the complex environmental characteristics and integrated simulation model areconstructed by three-dimensional modeling software SOLDWORKS and mechanical systemdynamic simulation software ADAMS. A series of simulation data are obtained and all thesedata provide references for the study of the bionic beetle-liked reconfigurable robot prototypesand the optimization of robot's mechanism.