Structural Design And Analysis Of Robot Kinematics Gecko

As an important branch of bionic robot,the gecko inspired robot iscurrently a hot area of research onspecial robot. Gecko is a tetrapod that can move flexibly on different normal planes such as ground, steep wall and ceiling. Gecko inspired robot is a robot system which imitatesthe gecko’s delicate structure, movement principles and behavior. The main purpose of the paper is to design a gecko inspired robot, including designing the robot’s mechanical structure, building the CAD models, devising and simulating the robot’s gait, conducting the kinematics analysis and designing the gecko inspired robot’s control system.The research background, significance, domestic and foreign research statusof the gecko inspired robot is introduced. By studying the gecko’s body structure and movement pattern, the mechanical structure of the gecko inspired robot is presented. And the degree of freedom of the mechanical structure is analyzed. Then CAD models of the gecko inspired robot are built using SolidWorks. Secondly, by comparing several different gaits, the diagonal gait is selected for the gecko inspired robot. And the gait simulation is completed to validate thatthe diagonal gait is feasible.Kinematics analysis of the gecko inspired robot is conducted. By analyzing the angle between each joint during movement, the torque of every motor and so on, the control system of the gecko inspired robot is introduced. Single chip microcomputer actuates the servo motors to displace the robot. Then the control program to make the gecko inspired robot walk on vertical plane is designed and verified by the aluminum robot model.Through the aluminum gecko inspired robot’sreal motion, it is verified that the mechanical structure, the diagonalgait and the control system are reasonable. Thus the paper supplies theory support and technology accumulation for improving the performance of the gecko inspired robot.