3D Dynamic Simulation Of Motion Morphology Of Bionic Robot

The technology of robot is the representative Hi-tech in the 21st century,it synthesized such many kinds of subject branches as mechanics, technologyof the computer, automatic control theory, biology, electronics and artificialintelligence. The appearance and perfect further of the robot take place greatinfluence on a lot of respects to the life of human society. At present, the robotresearch is developing towards such independent task aspects asinterplanetary exploring, military surveillance, public security, dangerousmonitoring. The bionics applies the biological principle to the research anddesign of the engineering system; plays an enormous role to nowadaysgrowing robot science and technology.The bionic robot is robot system in terms of bionics; it imitates externalshapes or inherent functions of biology in nature to realize some specificfunctions. The bionic robot is carried on the research and development to therobot from the bionics angle, it is the significant branch in robot domain; itwill cause the robot have the higher intelligentized level, the higherintegration and the better control function.At present, bionic robot is one of the most active directions in the robotresearch. There are many indetermination factors and heavy difficulties, sosimulation is urgently needed to lower costs. Kinetic behavior analysis is afoundation of researching systematic kinematics, dynamics and structuralstrength of machines. The understanding of kinetic behavior of animals isvery helpful to study bionic theories and their applications in machinesincluding terrain machines.The animal used for research is locust, a jumping insect. The geometricalconfiguration of locust's legs was measured using a stereoscope. The kineticanalysis and representation of jumping behavior were carried out using 3Dsimulation technology. The variation of structurally dynamic parameters oflocust was described during motion especially jumping. This paper describes abionic robot simulation system based on OpenGL in a special bionic robotresearch. The main features of the system are real-time of simulation,simplicity of programming design and transplantation of system platform.Meanwhile, the technology of virtual prototype was used in the bionic robot toanalyze kinematics and kinetics, to forecast the bionic robot wholeperformance, to obtain the most suitable joint form, to optimize the entirestructure and to improve the whole function of the bionic robot. Theinteraction of the locust's legs with surroundings was accurately examinedthrough analysis of kinetic mass, velocity and acceleration.The simplification rule was based on to establish the locust 3D kineticssimulation models, the models were carried on the experiment verifier and thesimulation study. The conclusions are as follows:1. Dynamic simulation system of bionic robot realized the followingfunctions:(1)Low hardware demand: The 3D dynamic simulation basic frame ofbionic robot was realized. Now, the 3D dynamic simulation of robot that in thepast realized only on the expensive workstation can be also realized on thepersonal computer.(2)High quality graphics effect: The special image processing effects,such as solid modeling and texture, are adopted to make the simulation figurehave better 3D real sense.(3)Real time: The real-time simulation improves the interaction andflexibility of the system. With the double memory technology of OpenGL, thereal-time simulation meets completely the demand of 3D dynamic simulation.(4)Easy design: OpenGL was adopted to reduce the programmingamount of graphics, to need hardly possess the profound graphics knowledge,to use relatively easily, to lower costs and to accelerate the speed ofdevelopment.(5)Easy transplantation: Adopting OpenGL as the tool of figuresimulation, there is stronger transplantation of platform to be transplanted toother environments conveniently.(6)Friendly man-machine interface: It can revise the movementparameter real-time and change the background color, light color and position;...