| The gecko-liked robot is an important branch of bionic robot and it is a research focus of advanced robot. The gecko has good kinematics dexterity and adaptability for the ground. The gecko-liked robot inherits advantage of gecko in locomotion and has a wide development prospect.At first, the research progress of the wall-climbing robot was introduced. Then the theory of structural design for walking robot was discussed. Based on the study of anatomy and gait of the gekko gecko, the mechanical structure and driving means of the gecko-liked wall-climbing robot was designed. The kinematics of the joint mechanism of the robot's leg was analyzed and the kinematics equation of leg was solved. On this basis, workspace of foots'end and overstepping ability was presented. Due to some problems of mechanism and drive for the first generation of the robot, an improved robot with active adsorption and desorption was designed. Then gait design and simulation for leg robot was described and gaits for quadruped trotting, crawling and pivot steering was designed. Furthermore, the problem of overdriving was solved. The virtual prototype of the robot was built in the MSC.ADAMS and gait simulation was completed. The simulation results showed that the robot structure and the gait was feasible. Meanwhile, gait for the improved robot was planned and analyzed.The robot control system based on host/slave mode was developed. Data exchange and command transmission was implemented through the wireless module. According to the gait data getting from the simulation, the on-chip program of the robot control system was compiled, and the software for wireless control, data transmission and wireless video monitoring on PC was completed. The experiment was carried out and the structure and gait of the robot was continuously perfected, and the results verified that the design was advisable. |
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