The Structure Design And Experimental Study Of The Multi-legged Bionic Crab-liked Robot

The research is supported by project of "Research on the Multi-legged Bionic Crab-liked Robot's Walking Method of the Complex Topography" which is funded by NSFC(National Natural Seience Foundation of China). The project's objective is to design a new type of bionic crab-liked robot. The robot can get through the complex road which is easy for the similar structure size natural biological to overpass, but difficult for the wheeled and tracked vehicles. At the same time, the robot should maintain the walking efficiency and speed which is similar to the natural biological.First, through the analysis of a variety of research on the bionic legged robots at home and abroad, we made a research on the bionic legged robot' development trends and the key technologies that should be overcomed in the future. Based on the previous five amphibious bionic crab-liked robot, a new type of bionic crab-liked robot had beed designed. The design of the modular drive transmission joints improved the robot's efficiency and output torque greatly The structure of the new leg optimizes the robot's briskness performance and flexibility. In order to reduce impact force effectively when the robot walks on the unstructured environment at high speed, a new type of flexible-driven joints was designed. The whole design achieve the goal of structural biomimetic.Through the analysis of the bionic crab-liked robot's tasks, the functional requirements of the composite manipulator were determined. The manipulator which can work under the water was designed. The gripper of the manipulator can be in quick-change modular operating tools for different tasks. Finally, through the analysis on the grabbing error of robot finger, the gripper size was optimized. The manipulator realized the function of bionic bionics crab purposes.In order to verify whether the bionic crab-legged robot's structural design is reasonable, a virtual prototype model was built, which is based on the software "ADAMS". The experiments which include the robot walk on flat floor, get through the obstacles and climb the designed slope have been done. The experiments validated the rationality of the new type of bionic crab-legged robot's structural design. The simulation of the physical prototype provide a strong reference for the robot's structural design.Finally in order to verify the integrated performance of robotic systems, four experiments are designed, which include the feet's force reflective experiment, the experiment about the influence of drive joint's transmission gap to the robot's position control, the robot's straight-line walking and climbing performance test. Through the above experiments, the mechanical properties of the robot, sensor performance, and control systems'rationality have been tested.