| Reptiles in nature have good movement mechanisms (stability, coordination, flexibility) and good abilities to perceive the surrounding environment through the continuous evolution. Based on the key technical problems of bio-robots, bio-motion system, motion modeling and disaster relief, I proposed a topic that based on bionic beetle to research the hexapod bio-robot for disaster relief.In all activities which human engage, there are many special locations that human can not reach or may endanger the personal security, such as outer space exploration and disaster rescue. Multi-foot reptiles have a good ability to adapt to complex terrain environment. Therefore, the research on multi-foot bio-robot has important practical significance for disaster rescue, such as earthquake rescue, forest fire monitoring and so on.In the paper I did some virtual prototyping researches on hexapod bio-robot using bio-robotics technology, virtual prototyping, modeling and simulation technology based on structure and motion mechanism of hexapod beetle.(1) It raised the subject source and the purpose and significance of the research in the paper. It analyzed the domestic and international status on hexapod bio-robot research, and gave the primary research content in the paper.(2) Based on the structural characteristics of six-legged beetle, I designed the structural model of hexapod bio-robot. Based on the three-legged gait characteristics of six-legged beetle, I analyzed the gait of hexapod bio-robot, including the straight walking gait and the turning gait.(3) I did the kinematics analysis on hexapod bio-robot according to the theory of robot kinematics. I did the kinematics, inverse kinematics and velocity analysis on supporting legs and swing legs.(4) I did the dynamic analysis on hexapod bio-robot according to the theory of robot dynamic. I did the dynamic analysis on supporting legs and swing legs, established a dynamic model and obtained the kinetic equations and their solutions.(5) It studied the virtual prototype using ADAMS. It simulated the straight walking, turning and obstacle avoidance. Obstacle avoidance simulation included protrusions and depressions ground. Through the data curve, we can estimate the stability of the robot.The work provided theoretical and technical basis for further research of the subject. |
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