Friction Coefficient Changed Inchworm-like Robot With The Linear Motor Driven

As an important research branch in the field of robotics, bionic robot has always been ahot research topic in recent years, all kinds of research object of the nature are design models.Inchworm belongs to invertebrates. Due to the lack of slip in the middle of the body, it movesin "stretch" characteristic gaits. The scientists are great interested in the uniqueness of itsmovement because that the movement of inchworm mechanism has certain reference andapplication value of bionics in the structure design of tiny mobile robots.This paper designs a kind of bionics inchworm robot based on the use of linear motorand the principle of friction coefficient changed. It dose detailed analysis on movementprinciple, mechanical structure, motion description and simulation test.The paper simulates the movement characteristics of bionic inchworm and put forwardoverall structure which combines wheel and creep type. It discusses the movement gaits andturning mechanism design, verifies the certainty of the robot motion through the analysis ofthe freedom of the robot. It lists the related calculation formula of different turning situationof the robot and dose the finite element analysis on the key hinge, which ensuring it workswithin the safe scope of the strain.Establish the mathematical model of inchworm robot to describe its motion. Using thehomogeneous coordinate transformation, establish a transformation matrix relationshipbetween the coordinate systems and get three dimensional space coordinates of the robotrelative to the initial state geodetic coordinate system.At last, the paper introduces the robot simulation test results. In the environment of thethree-dimensional design software Solidworks Motion Analysis, measure the datas of frictionforce, displacement, turning Angle and space coordinate in the process of the movement ofthe inchworm robot and the results are consistent with the content above.