A Bionic Digging Robot Inspired By Mole&Its Movement Characteristics Research

This article aims at the problems of digging pressure-hole in hand using in the salvage ofwreck. After analysis of the defects of existing drilling robot, including big turning radius andlow efficiency, designs a high-efficient bionic robot which can turn in3-D space agilely.Through contrasting a variety of digging animals, this paper selects the mole as theobject of bionics design. Through studying of the morphology of the mole, abstracts themole’s structure model, and simplify the model. Then establishs the structure scheme for thewhole bionic digging robot and its workflow.According to contrast of different kinds of animal arms, designs a double rockerparalleled coupling mechanism as the arm of the bionic digging robot, which can realizecontrollable reciprocating motion without reverse of the drive, so that it eliminate the emptypath error existing in the two derees of freedom tandem mechanical arm, and also improvethe efficiency of the mechanism.Through kinematics analysis of the arm of the bionic digging robot inspired by mole,this paper researches the effect of the initial position and the drives motion trajectory to theend point, then draws the conclusion of how to get the single-direction drive motiontrajectories by the end point’s trajectory. Determines the method of how to get the robot’soutput torque through the dynamic analysis, and establishes the performance evaluationcriterion of the double rocker paralleled coupling mechanism.This paper analyzes the straight forward trajectory and the turning trajectory inhorizontal, calculates the maximum step distance during forward movement and describes therelation among the maximum rotating angle, the radius of the hole and the step forwarddistance.