Experimental Installation Of C-legged Terradynamics

Bionics consists of engineering technology and biological science.Bionics combines biological theories with design and research on engineering systems,which puts tremendously huge efforts to robotic sciences and widely used in development in the field of automatic task under non-structural environments,including space flight,aviation,cosmos exploration,military spy and attack.C-legged bionic hexapod robot draws great attentions of experts from both domestic and abroad because of its rapid passage capacity in sand based environments(floating grounds like sand and earth).C-legged bionic hexapod robot is recognized as the one with the best performance on soft sand,slippage rate on soft sand bases is still too high.For this problem,this paper aim for experimental installation of C-legged Terradynamics.Further research on terradynamics indicated that to overcome the high slippage rate of C-legged bionic hexapod robot,maximum maintain time for resultant force of positive pressure and twisting force should be longer.The research results of the article are as follow:(1)Research and design of hardware for C-legged terradynamic experiment.Based on loaded movement of C-legged,components including AC servo system,rotary encoder,power supplier,and SIEMENS S7-200 system were selected and installed following the instructions.Particularly the pressure sensors,positive pressures and twisting forces on multiple sites of C-legged must be measured,therefore,the sensors must be effectively and accurately embedded in the C-legged.(2)CPU 226,analog quantity I/O module 235-0KD22-0XA0 of SIEMENS S7-200 series were used to measure angular displacement,positive pressure and twisting force.Effective communication between SQL server and S7-200 programmable controller was realized through VB6.0.Programming was accomplished via STEP7 Micro/Win32.Data was collected and exported by SQL server database?Experimental facilities and theoretical bases were formed for further research on establishing mathematical model and realizing self-adaptive control.