The Design And Dynamic Analysis Of A Bionic Hexapod Robot On Desert

The Legged-Robots are the frontier of the modern robot technology. Compared to the wheel or caterpillar robots, it has a promoted ability to go through the unstructured and unconfirmed environment, the main reason of which is that the stand-points of the legged-robots are discrete,so that the optimal points can be choose as support. The living beings of nature formed the unique way adapting to the environment characteristics after ten million years superior with bad discard, and thus this way can guide the development of the bionic robot with similar characteristics to help overcoming the unstructured environment. The bionic legged-robot has become the hottest spot of the development of the modern robot technology. So, in view of the normal vehicles,which are difficult to move in the desert, there is a hope to overcome the problem through simulating the movement way of living beings.First, a bionic hexapod robot is designed approaching the biological movement mechanism on desert,the foundation of which is the tripod gait of cockroaches and the speed cohesion gait through slow speed when touching and quick speed when swaying of lizards. At the same time,a kind of joint type steering vice with double-deck is designed which is used to made it has a flexible steering function. During the process of the structural design, the finite element analysis has been carried out considering the strength problems and vibration performance of all parts.Then, a mechanical model of the interaction between legs and sand has been established to obtain the interpretation of the legs’subsidence problem. Meanwhile, the sand model was built up using the discrete element method to determine the parameters of the sand body through the Biaxial and Brazilian Tests. The influence of the rotate speed to the leg’s travel smooth efficiency is analyzed through simulating the contact mechanism of the legs and sand with the discrete element method, in the test range (1.5rad(?)4rad). The forward velocity increases linearly and the slip ratio increases a little, and the overall trend stabilize, the traction and the driving torque are less effected by the rotate speed. The subsidence quantity is increased as the rotate speed increases. The travel efficiency of legs with smooth and bump surfaces also was considered. The results show that the bump surface can effectively reduce the slip ratio and the subsidence quantity, but has no influence on the traction and the driving torque.Once more, the rigid body dynamics model of the bionic hexapod robot is established, simulating the movement of the bionic hexapod robot on the smooth-riding surface, the rough road and the staircase,to observe the effect on the stability of movement with the planning gait. Mechanical characters was analyzed when traveling on the smooth-riding surface, and the result is consistent with the theory and has periodic trends. Meanwhile, the steering process of the bionic hexapod robot is simulated and the speed changing rule is analyzed in three directions.In order to test the traveling feasibility of the bionic hexapod robot comparing with the simulation, the experimental analysis was carried out on the smooth-riding surface and sand. The results show that it has the traveling feasibility and the actual speed is less than the simulated speed and it has a lateral migration phenomenon no matter on the smooth riding surface or the sand.At last, the content of the full text is summarized, with the account for the deficiencies of this paper and the further work need to be done.