Research On The Mechanical Model And Control System Of The Crab-liked Robot

To develop a prototype of a crab-liked, mutli-legged robot, studies on the mechanical structure , geometrical modeling ,analysis of the kinematics and dynamics, controlling system design are presented in this thesis .Beginning with modeling the robot, type and driving mode of the joint on the existing multi-legged walking robot are listed. With summing up defects in the departed design and considering flexibility of the robot, a bran-new scheme are designed, also, characteristics of the mechanism are analyzed.Besides, after analyzing characters of the robot's walking, we did some research on the legs in swing and supporting stances. A geometrical modeling to the mono-leg is established, positive and negative solutions to the kinematics of the model are obtained in D-H coordinate system. Also, to the parallel mechanism which is formed by the legs in stances, relation between the platform and the joints, is acquired.Using Simulink module which is in Matlab, We did the emulation while the robot is in stable sideway walking, also, characters in front walking are expatiated. Simultaneously, we probed into the problem of the force endured by the leg while swinging in water, and did the dynamic analyzing in Newton-Euler and Morison formulas. The static stability and the duty factors are analyzed.At the same time, basing on the requirement of the control system on the robot, a scheme of double layer control system are set down. In the thesis, driving module, double closed-loop control system of the motor, collection and disposal of the signal, communication module which belong to the lower control system are mainly introduced.At last, we did some tests to the joint's performance, corresponding to the analysis between mechanism and movement of the robot, tests to the walking performance of the robot is done. By doing the tests, feasibilities of the...