Research On The Virtual Prototype Technology Of Amphibious Multi-legged Robot

The research is supported by project of 'Biologically Inspired Crab-liked Amphibious Robot Study' which is funded by NSFC(National Natural Seience Foundation of China). In order to produce a highly reliable micro mobile robot platform that is adaptable to complex terrain and capable of walking in amphibious environment, the research presented in this dissertation involves studies on mechanical design, kinematic model, dynamic model and locomotion simulation based on virtual prototype technology.First of all, based on the analysis of enormous research of legged robots at home and abroad, the shortcomings of previous 4 types of amphibious multi-legged robots are discussed and a module robot is created. The robot possesses better working ability due to the compound legs and reduced impact from ground when walking due to the shock absorbing module assembled on the tiptoes. Besides, it is capable of walking inversely, which enhances the mobility in amphibious environment.According to the features of the motion of the amphibious multi-legged robot, the kinematic model is established. Through kinematic analysis, inverse and forward kinematic solutions are obtained for swing legs and stance legs, which means that it is able to calculate the linear speed and acceleration of the robot as well the joint angular velocity and acceleration.In addition, for further research of the robot, the dynamic model is established, such as dynamic equations for legs and the trunk, hydrodynamic model with related equations and dynamic model for the shock-absorbing module indicating the selection method for spring stiffness.At last, a great number of simulations are finished based on the virtual prototype technology. These simulations include locomotion experiment of single leg, dynamic experiment of leg with normal force on tiptoes, experiments discovering the relation between step length and dynamic characters. Apart from these experiments, the experiments for the traverse movement and movement under zero gravity are made, which obtain he data of the joint moment. All the results prove the mechanical design and the feasibility of gait planning producing useful data and conclusions, which offers references for the research of the real prototype.