Research On The Remotely Controlled Inchworm-robot

This research project derived from the Innovation Projects of Zhejiang provincial department of education. This thesis mainly completed the design about the reality, transmission device and control system of the inchworm robot. Moreover, the mode of motion of the inchworm robot has been studied.Firstly, this thesis presents the development status and their applications on the snake-like robot and the crawling robot at home and abroad. According to the motion characteristics of the inchworm robot, the reality structure scheme using inchworm motion mode and wheel mobile robot has been put forward. The transmission structure unit and turning device of the inchworm robot have been researched and designed. Meanwhile, the driving style of the inchworm robot has also been designed. Afterwards, the electrical motor and drive are selected. Finally, the overall design on the inchworm robot has been achieved.In the thesis, the inchworm robot is virtual assembly designed. In the process, when the inchworm robot turns,its equation of motion is established. Later on, the motion simulation is done. By studying the Inchworm robot in virtual assembly, For the robot parts design processing provide reliability analysis, The processing of the robot design can be analyzed reliably, which can reduce the costs of the research and shorten the cycle of the design. In general, the most important is that the virtual assembly can guarantee the inchworm robot can be testified successfully.Based on the infrared emitting and receiving control system of the SH79F081 robot, the preconcerted function of the infrared receiver is designed. It uses the front wheel to control circuit and rear motor wheel to control interface, then installs them into the body of the robot. In the process, infrared transmitters mainly do the design that different buttons on the remote control can receive the corresponding control commands. And use the infrared remote to control the action of the inchworm robot and design the control software based on the C language.It builds the mathematical model of inchworm robot on moving. With the principle of homogeneous transformation coordinate system to establish the change matrix of current position and get the robot relative to the original three-dimensional coordinates of the space coordinates, the whole analysis process provides the theoretical basis on the movement of the robot.Finally, it introduces the test situation of the inchworm robot's function. The results show that the inchworm robot has some characteristics of moving smoothly, turning flexibly, and it has the capability of self-locking in the case of having slope, the characteristics have reached the design requirements.