| With the development of cybernetics, mechanism theory, computer, bionics, artificial intelligence, information and sensation technology, the bionic robots' technology develops rapidly. Recently this technology has become one of the most significant symbols that could convey the high-tech levels and industrial automation degrees of a country. And naturally it is to be the focus of scientific research.This paper, first of all, systematically presented the domestic and world's developments and latest achievements about bionic robots' technology. According to the results which achieved from the research of the former types, the improved novel multi-foot crab using the thoughts of bionics has been put forward.In addition, this paper presents a general design scheme for the novel bionic multi-legged crab prototype machine, completes the mechanical construction design and also gives a new kind of robot joint for a bionic multi-legged machine that depended to a considerable extent on the use of harmonic reducer. Afterwards rational design and arrangement of the freedoms of eight legs have been assembled according to the bionics, too. In a sense, this machine has the capability of walking inversed, which enhances its mobility in amphibious environment. And then the multilevel hierarchical control theory was introduced in the design of the control system. Otherwise the differences of variable gaits have been comparatively analyzed in the paper. A great number of simulations are finished based on ADAMS and co-simulation of ADAMS and Matlab. These simulations including straight moving, ascending and descending slope and obstacle crossing verify the stability of double-four gait. Besides, the paper also introduces some information about underwater anticorrosive materials.Finally, after finishing the works above, the paper proposes the conceptual and structural designs of this new multi-legged crab prototype machine and then the assembly of the whole machine was completed. Moreover the performance, the moving capability and the function of control system have been tested and debugged. |
