Motion Mechanism And Experimental Study Of A Kind Of Propulsion Device With Anti Skid Characteristics

Fishes and snakes in the biological world interact with the external environment by swinging.Through these reciprocating movements,the lateral force is converted into the forward driving force.The integral movement does not deviate from the original forward direction,and has the characteristics of “restraining and weakening lateral sliding movement”.This mode of motion is called “anti sideslip characteristic movement”.The reciprocating movement of fishes and snakes adapts to complicated environment and is beneficial to their own movement.It has high propulsion efficiency.Researchers have developed biomimetic mechanisms such as robotic fish and robotic snake by studying the mechanism of fishes swimming and snakes crawling.On the basis of these existing researches,this paper extracts the motion characteristics of the oscillating propulsion of the robot fish and the robotic snake.A driven wheel robot with the characteristics of ‘anti sideslip' is designed.The mechanism and experimental research of the anti sideslip characteristics of the robot are carried out.The influence of the mechanical structure,joint input control and multi factor coupling on the "anti sideslip characteristics" motion are studied.The main contents of the impact are as follows:(1)The characteristics of anti-sideslip motion are summarized,the motion characteristics of swing propulsion such as robotic fish,robotic snake and vigor board are extracted,the design scheme of the propulsion with anti-sideslip characteristics is determined,and the mechanical structure design and three-dimensional modeling of the wheel-type robot are completed.(2)Taking the driven wheel robot as the research object,the motion force analysis is carried out.The robot's kinematics equations are established based on no sideslip constraint,the dynamics model of the robot is established by using the Lagrange equation,and the propulsion efficiency of the robot is defined by using the mathematical formula,which lays a theoretical foundation for the subsequent experimental research.(3)The three-dimensional model of wheel robot is established and utilize ADAMS to simulate wheel robot.The influence of actuator motion,working environment,mechanical structure and multi factor coupling on the robot motion performance are studied respectively.Then,determine the optimal motion performance,corresponding mechanical structure parameters and actuator control parameters of the robot,which provide a reference for the subsequent prototype experiments.(4)The experimental platform of the driven wheel robot is built,and the design of the mechanical system,control system,and data measurement system is completed.According to the experimental plan,the robot's motion experiments under different conditions are completed,and the experimental results are compared with the simulation results.The trends of the two results are consistent,and the optimal motion performance of the robot and the parameter settings of the corresponding influencing factors are determined.The experimental results show that the kinematic performance of the improved robot is significantly improved.