Research On Gait Planning And Trajectory Planning Of Spider Robot In Tunnel Detection

Multi-legged bionic wall climbing robot is an important branch of Multi-legged bionic robot,it is an intelligent mechanical equipment applied to a work under special environment.Spider become the important target of the study of the bionic robots at home and abroad because of its' distinctive physical structure,the complex environment,all-terrain crawl ability and other characteristics.The increase of the tunnel populations in recent years leads to the tunnel maintenance workload and difficulty,at the same time,also brings great potential safety problems.Towards application of the spider biomimetic robot in tunnel detection,his paper do a series research concerning the mechanical structure,trajectory planning,kinematics,dynamics,gait planning and control system,amongst others.Firstly,this article introduced the imitation of spider biomimetic six-legged robot's research background and the development of climbing robot at home and abroad.Further,the tunnel inspection robot's mechanical structure are designed based on the analysis of the spider physiological structure and the hierarchical control system are designed based on the Arduino 101 and the QSC.Next,on the basis of one leg's kinematics and dynamics model,the paper puts forward an obstacle avoidance trajectory planning scheme aimed at the optimal time of segmented based on genetic algorithm algorithm of higher order spline curve,and the trajectory planning scheme is simulated and the simulation shows that the method is effective.At the same time,the movement gait adapted to the tunnel wall is designed.Finally,based on the spider biomimetic robot experimental system platform,straight gait expriments are carried out to verify that the gait planning algorithm is correct.The characteristics of this paper are as follows.(1)In order to make this spider biomimetic robot capable of all kinds of tunnel detection under complicated environment operation in a variety of complex environments,this paper designs a high degree of freedom robot with a three-joint leg structure which adopts a universal rotating ball which is in turn connected to bionic sticky feet.(2)The paper proposes a new method for an foot obstacle-avoidance trajectory planning algorithm.The simulation shows that the method can be effectively adapted to the robot trajectory planning of the topic,that the method improve the work efficiency of the robot on the premise of the robot's safety.(3)The vertical three-legged gait,steering three-legged gait and obstacle avoidance wave gait adapted to the tunnel wall crawing are designed in the paper.The relationship between body movement and leg's joints in different gait and the factors affecting the stability of the robot working in vertical three-legged gait are analyzed,finally vertical three-legged gait experiments are carried out on the spider biomimetic robot experimental system platform,and the experimental results show the rationality of the gait planning.(4)The paper completes the robot control system hardware platform selection and design work.Based on open source electronic platform of Arduino IDE,the paper defines the communication protocol between PS2 wireless controller and QSC servo-diver board.Gait experiments are carried out on the spider biomimetic robot experimental system platform,and the experimental results show the effeciency of control system.