The Research Of Bionic Robot Based On The Kinematic Analysis Of Beaufortia Kweichowensis

With the gradual development of engineering technology and life science,bionic technology has also developed rapidly.The research of bionic robot based on the kinematic analysis of beaufortia kweichowensis also belongs to motion bionics in bionic technology.Firstly,based on the study of the adsorptivity and anisotropy of beaufortia kweichowensis,this thesis observes and analyzes the movement behavior of beaufortia kweichowensis and focuses on the analysis of its forward and backward movement state to study the motion mechanism of beaufortia kweichowensis.Then,this thesis puts forward the hypothesis of "adsorptive creeping".Secondly,this thesis starts to do bionic research on kinematics.Based on this hypothesis,this thesis designs a bionic robot motion model,which can sustainable adsorption and crawling.Then according to the motion model,this thesis carries out the model building and kinematics simulation of bionic robot to calculate the trajectory,velocity and gait of the bionic robot.Finally,this thesis makes out a bionic robot model,which includes the manufacture and installation of mechanical system and the development and design of control system.Then,this thesis carries out relevant motion analysis experiments on the prototype,and analyses its adsorption and creeping ability on horizontal,vertical and inverted walls.After the relevant kinematics simulation and motion experiment of the bionic robot,this thesis draws the following conclusions:this bionic robot not only has the similar movement law with beaufortia kweichowensis,but also has the advantages of weight-bearing crawling,low energy consumption and integration.