Design Of A Leg-track Composite Robot Single Leg For Forests

Forest is the basis of biological diversification on the earth.It can not only provide wood,medicinal materials,economic agricultural and forestry crop products for human life.But also can regulate climate,purify air,maintain soil and water,windbreak and fix sand.Forest is an indispensable natural resource in the development of national economy.Smart forestry engineering,which integrates the Artificial Intelligence and Internet of Things(AIo T),big data,artificial intelligence and robot technology,has become the development trend of forestry production.In forest tree breeding,forest cultivation,pest control and wildlife protection,the timely acquisition of a large number of monitoring data is the key to the effective operation of the smart forestry system.Woodland environment is complex,the ground rock,slope,wood,rotten branches and leaves and wading traffic,brought great difficulties to forest monitoring,forest land operation mobile robot can effectively make up for the shortage of traditional artificial operation in real-time and efficiency,terrain adaptability,good performance of forest work mobile robot has become the focus of intelligent forestry equipment research.In view of the problems of mobile robot crossing and poor passing ability in forest environment,this paper designs a single leg structure of leg track compound mobile robot for forest operation,puts forward the motion buffer strategy,and carries out simulation and single leg performance experiment research.Firstly,on the basis of analyzing the environmental characteristics,the leg configuration of the composite mobile robot is designed,and the motion characteristics are analyzed by theoretical modeling and simulation.Based on the spinor theory,analyzed the mechanism of leg configuration and determined the leg joint motion chain of the accessory joint.According to the size of the main obstacle in the forest area,the leg length is optimized.Constructing a leg movement model and analyze the relationship between contact force and joint moment of leg structure.Secondly,the mechanical structure of one leg of the composite mobile robot is designed.Based on the design idea of leg track composite,the crawler module and the robot thigh structure are organically integrated,the bent hip shaft and the track drive shaft are coaxial nesting design,to complete the crawler structure design of the thigh module,and the force analysis of the main structural parts of the single leg.The foot pressure subsidence model is established,and the foot end module is designed and optimized in combination with the water membrane theory.Thirdly,the single-leg cushioning method of the leg-shoe compound mobile robot is designed.According to the characteristics of thigh mass concentration in the leg structure,a single leg buffer method based on speed planning is proposed.Based on the foot-ground contact mechanics model,the velocity planning strategy is proposed through the impact dynamics analysis.Simulation analyzes the control effect of the speed planning buffer method.Finally,a single leg prototype of the leg shoe compound mobile robot is developed,and a single leg performance test platform is built,and conducted experimental research.In order to verify the rationality of the design,the single leg prototype of leg composite mobile robot is developed,and the prototype performance test bench is set up.The experimental characteristics of single leg swing displacement,track performance and speed planning buffer are studied,and the rationality of single leg design of leg composite mobile robot is verified.