| The robots now is regarded as a kind of ideal platform for performing dangerous military mission, which have advantages of high dependability, good adaptability, powerful function. In addition, the research on amphibious military robot has become the focus in this area all over the world. The research of this paper is supported by project of 'Amphibious Crab-liked Robot Study', which is funded by NSFC (National Natural Science Foundation of China). The main research of this paper includes scheme design of crab-liked robot, control system, driving technology.After studying of related research on multi-legged and bionics robot over the world, the macro-scheme design of the crab-liked robot is deeply researched. The feasibility of relating technology has been demonstrated such as kinematics and dynamics of multi-loop parallel manipulator, micro servo driving method, bionic mechanics, DSP real-time control.With the researching on flexibility and stability of the crab-liked robot movement, we get the optimized structure parameter module. The study methods such as bionic structure design and function imitating, the optimizing analyze of kinematics and dynamics are widely used. At the same time the scheme design of DSP real-time control system is given.As the main point of the paper, we give a detail discuss on control system study of robot walking leg, the same as software and hardware design for DSP based controller. This part is including research on sensors and components selecting, design of main-controller, peripheral interface and application software. In addition, the control arithmetic is also studied.At last, we build the test platform of crab-liked robot walking leg. Through the experiment on the test platform the above technologies have been widely testified. The performance of the angle driver of robot leg, DSP controller is proved to be effective. At the same time arithmetic of harmonize control is also be test to analyzing the control performance in different walking status.
|
PDF Full Text Request