Design And Implementation Of Control System For Biomimetic Amphibious Crab

With the development of the marine economy,there is an urgent need for a multi-purpose amphibious robot that can work both on the beach or seabed and in the water for a long time.Therefore,how to use underwater robots to safely and efficiently complete underwater resource detection,safety inspection and other tasks has become a hot research direction.The bionic underwater robot has the advantages of low noise,good concealment and high swimming efficiency,so it has a broader research prospect.Among the numerous underwater creatures,the superiority of sea crab swimming and bottoming has become the preferred bionic object for underwater bionic robots.Bionic amphibious mechanical crab is more suitable for interdisciplinary research such as automatic control and robotics,so more and more researchers have begun research on bionic amphibious mechanical crabs.The research content of this paper is part of the National Natural Science Foundation project �Research on Key Technologies of New Concept Bionic Amphibian Machine Crab�.The research content of the paper is to develop the first generation of bionic amphibious mechanical crab prototype through the bionic study of the crab structure,and design and realize the control system of the first generation of the prototype.Firstly,the bionic study of the structure of the biological crab was carried out.The model of the joint steering gear was selected and the stability analysis was carried out,which is the prerequisite for ensuring the accuracy of the entire control system.According to the biological structure of the crab and the size of the joint steering gear,the mechanical structure of the mechanical crab prototype was designed,and the overall scheme of the control system is also planned.Secondly,the control system hardware of the bionic amphibious mechanical crab was designed.Through the design of the host computer main controller,the lower computer servo drive,the communication interface circuit,the sensor signal acquisition circuit and the human-machine interaction device interface circuit,the communication and wireless communication functions between the hardware of the control system are realized,and theacquisition of external perception signals is also realized.Thirdly,the control system software for the bionic amphibious mechanical crab was designed.Through the definition of the communication protocol,the generation of instructions is realized,and the communication function of the mechanical crab is completed.The control of the STM32 timer generates 20 PWM control signals to realize the control of the joint steering gear.Through the software design of the mechanical crab sensing system,the automatic obstacle avoidance,infrared sensing and body inclination perception function are realized.Finally,the hardware feasibility test of the bionic amphibious mechanical crab control system was carried out,and the functional test of each communication module was completed.The automatic obstacle avoidance of the mechanical crab prototype,the infrared anti-drop and the body tilt perception function were tested,and finally the underwater test of the mechanical crab was conducted.After testing,the control system of the bionic amphibious mechanical crab meets the expected requirements,and can realize functions such as automatic obstacle avoidance,infrared anti-drop and body inclination perception;it also can realize wireless control function and achieve the expected design goal.