The Design And Research Of Heavy-Duty Robot High Adaptability Foot

The development of robot technology is of great significance to human being better adapted to nature. As the application range of robots has been increasingly wide, technical requirements of the robot is becoming more and more high. The legged robot in mobile robot has many advantages, its drop foot point is discrete. A stable support point can be found in all kinds of complex landforms, and it has lower demand for road conditions. But it has high requirements for the foot of legged robot, especially the large-scale and heavy-duty robot. There is currently few research on the large-scale and heavy-duty robot foot of walking in different bad road conditions at home and abroad. Domestic need to develop a kind of six legged heavy-duty robot, and it can be applied in the mountains, dinas, ice snow covered roads and other harsh complex environment. In this paper, we design a high adaptability foot of the heavy-duty robot. The foot can adapt to a variety of complex road conditions, with high adaptability, damping performance and high adhesion, and can bear a heavy load. It is very important to the application of large-scale and heavy-duty robot in the harsh environment.Aiming at the application of heavy-duty robot in complex environment, robot can climb, make a turn, adapt to rugged terrain, etc. It requires the foot with high adaptability, high bearing capacity, damping performance and high adhesion performance. Design the spherical pair, and make the footplate can swing a certain angle and rotate around the leg axis 360, meeting the robot's ability of climbing, steering and adapting to the rough pavement. It ensures foot stability.The heavy-duty robot foot will have a great impact in the landing process. In order to reduce the impact, design the rubber shock absorber to meet the cushioning performance requirements. In order to ensure the continuous walking of the robot, footplate need to self reset after swinging to avoid the risk of foot landing again. Design three sets of equispaced tension springs to meet the foot self reset performance requirements. In order to make the foot structure simple, the conical spring is a combinatorial innovation design of the cushioning and self reset performance.In order to make the foot can adapt to the mountains, dinas, ice snow covered roads etc, it is difficult to design one foot to meet all the above road conditions. Therefore, a footplate quick change mechanism is designed. According to different road conditions it can quickly replace the different footplate to meet the robot walking requirements. The overall structure uses light alloys. It has low quality and high strength, and can meet the performance requirements of heavy load. The layout of each part is reasonable and complementary. It not only can independently complete their respective functions, but also has a good coordination. There is not interference and impact collision problem between the components and it can well meet the overall performance requirements.Based on the above mentioned foot structure, in order to better simulate the actual work load, dynamic simulation analysis of foot are done. Experiments were carried out on the ground and on the slopes. It can meet the performance requirements, and has a certain climbing ability.