| With the development of robotic technology, by now, robot is not only extensively applied in industry, but also expanded new applications in military, ocean exploration, science adventure and rescue realm, etc.. Especially robots used in special kind of dangerous environment, have got rapid development, such as: underwater robot, wall cleaning robot, piping robot, military probing robot, military minesweeping robot, military attack robot, and so on. The robot now is regarded as a kind of ideal platform for performing dangerous military missions. The crab has the good adaptability to wave, ocean current, and when waves contain the big rise and fall or the ocean current variety is very big, the crab can guarantee its stability, especially the shoal surfing ability is very outstanding, therefore, the research on amphibious crab-liked robot possesses important significance theoretically and practically.The research of this paper is a part of the project of 'amphibiou crab-liked robot study, which is funded by NSFC(National Natural Science Foundation of China). This task is put forward by the need of riffle spying, mine sweeping, science adventure in the condition of navy landing war. Crab is the perfect biologic model on research of the amphibious crab-liked robot. On the basis of research of its biology prototype, we provided the bionics crab-liked robot's structure and composition principle, including the mechanical structure, eight leg structures, the proportion of each part, and established the mathematical mode. Furthermore, the driving way of the walking foot joint adopts spiral taper gear. This can decrease rotation speed output of the servo motor and change the direction of output shaft. The motors are distributed over the leg's direction, hence no joint spin axis's special angle problems will occur. In this way ,the volume is small and the efficiency is high. In addition, this paper researches on the SMA as the joint driving elements, SMA has some disadvantages in practical usage.Through rational design and adopting some assistant way, SMA can be a perfect ware.Applying serial-parallel hybrid analytical method and ADMAS software, we studied the frame work kinetics of the bionics crab-liked robot, we established mathematical model of motions of the components and imitated it, we gave the way to layout walking leg's tranjectory. This is feasible byexperimentation, we established the relationship of position and orientation of each move part and end effector, so that a good way to research the crab robot's motion characteristic was provided.In the bionics crab-liked robot controller's design, we adapt the time-sharing centralization and multi-CPUs controller. One CPU controls the joints of three walking feet, and entire controller of the crab robot is a multi-CPU structure, which is parallelly connected into a three walking foot controller( namely three CPU control units), which constitutes a servocontrol layer, and is coordinated by a central control CPU. In the end, we provided the single foot servo controller, motor driver, communication interfere hardware based on DSP CMOS chip TMS320LF2407.This paper established experiment platform of amphinious crab-liked robot 's single leg and tested on the walking foot joint driver's capability and track, SMA is be used as the joint driver. SMA contracts quickly when it is stimulated by electric current, but cools slowly in the air. So we adopted bilateral drawing method to realize reciprocateing of single leg. Experiment shows its frequency too low. In order to increase its frequency, we adopt SMA which is trained in a fixed shape, and the SMA can return to the fixed shape quickly after it is electrified and produce vibration. In this way, we can drive the leg, and increase the vibration frequency, but the reverse moment is a little lower.The bionics crab-liked robot is based on the analyse on the crab prototype and correlativity, we designed the model of bionics crab-liked robot. The model machine's prototype installed eight walking legs, and each...
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