Research On The Key Technology Of The Amphibious Bionic Crab-liked Robot

Bionic robots are now becoming the hot topics of researches because of the high reliability, good adaptability and the powerful performance. The research of this paper is supported by the project of "Amphibious bionic crab-liked robot study", which is funded by National Natural Science Foundation of China (NSFC). On the basis of previous crab-liked robot researched in Harbin Engineering University, and in order to develop a prototype of a crab-liked, multi-legged robot, the key technologies, such as studies on the mechanical structure , design of sealing system, analysis of the kinematics and dynamics, research on dynamic emulation, and assay of parameters testing are presented in this thesis.Beginning with the robot model established, 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 prototype is designed and optimized after modeling in Pro/E. As to realize the amphibious function of the prototype, a sealing cover of the crab-liked robot is developed.Besides, characteristics of the mechanism are analyzed. Some researches on the legs in swing and supporting stances are completed. 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. On the basis of the above analysis, dynamic emulation with ADAMS is proposed and some parameters curves are obtained.At last, some tests of the crab-liked robot such as the walking experiment, tests according to the qualification and the surroundings information acquisition assay, are performed. By doing the tests, feasibilities of the mechanical design, sealing system design and controlling system are confirmed. Also, the assays and tests have gained some references for the future application of the crab-liked robot.