Research On Control Strategy Of Detect Mechanical Arm Based On The Multi-legged Robot Platform

Multi-legged robot is a kind of complex walking robot, the Multi-legged robot is theproduct of the theory and technology of multiple disciplines. In response to the diiffculty ofdetection of large-scale bridge in our country, and improve the safety of bridge detection andautomaticity, this paper developed multi-legged robot platform for bridge detection.This paper regards multi-legged robot platform as research object, and mainly studies themechanical structure design of the robot body, the hardware and software control system, thedesign and control of the mechanical arm, the joint simulation of ADAMS and MATLAB.The main content of this paper are as follows:(1)The mechanical structure and hardware/software design of the robot control system.Regard spider as bionic appearance, design six-legged robot, each leg with five degreesof freedom，and at the end of each foot with universal rotating ball joint connection negativepressure suction cups, make sure robot able to work under the environment of complicatedbridge detection. ARM+FPGA hierarchical control system, adopted by the robot ARM as themain controller of control system, receives station’s commands by wireless, realizes robot gaitcontrol algorithm; The FPGA as the control system of the controller, receives commandsARM transmission motor rotation, and produces PWM waves to control the motor.(2)Setup the D-H coordinate system of robot, and establish the robot kinematics modeland inverse kinematics model.Based on more than the mechanical structure of the robot, the robot was establishedbased on d-h coordinate representation coordinate model, and using the d-h coordinate systemto establish the robot’s forward kinematics model and inverse kinematics model, robot isanalyzed in vertical, lateral and inverted three typical conditions of gait planning problem.(3)Design the mechanical structure and motion control methods.According to the requirements of the bridge detection and space constraints, andconsidering the robot manipulator control convenience, design a three degree of freedommanipulator with sliding screw. Through MATLAB and ADAMS simulation, respectively analyzed the PID controller’s and incremental fuzzy PID controller’s step response and sinetracking features.