Analysis Of The Bionic Robot Commander C Leg Wheel And Sediment Mathematical Model

Light and spirit sand robots can not only complete the desert adventure,and can also be used to probe on the surface of the moon.In the study of sand robot process,people invented a set foot type,wheeled characteristics of C shape bionic legs six-legged robot,to better grip,is now walking on the soft sand,being the best robot,however,in the soft sand,the slip rate is still larger.So it is the great significance to research the C shape legs wheel and the change rule of the interaction between wheel and sand,to reduce the C shape legs wheel slip rate,and to improve the sand robot passing ability,so as to ensure the working reliability of the robot.For the research purpose,collection the stress data of the C shape legs wheel movement in the sand,and analysis to search a solution to the optimal motion of the C shape legs wheel,making them in sand composition of positive pressure and tangential forces,and the time of the largest athletic time longer.The subsequent two-dimensional motion C shape legs of optimization and the C shape wheel the establishment of a mathematical model are provided to the data support.Thus the research content of this paper is as follows:(1)Design and prepare the test device,including the software development and hardware Settings.The hardware includes the electrical module and mechanical structure.The ac servo system,the rotary encoder,the power supply,the Siemens S7-200 system,the pressure sensor and the other electrical components were chosen as the experiment device and the slippery course,the reducer were chosen as the mechanical parts.According to the C shape leg movement,the pressure sensor was embedded within the C shape legs legitimately.Software settings mainly included the PLC program and PC program and implement of the sensor data collection.(2)Experimental study on the function between the C shape legs and the sand.Testing process included the sensor calibration,function test between the C shape legs and the sand.In the C shape legs experiment,the control variable method was mainly adopted,and the control variables are respectively the rotational speed of the servo motor and the depth of the C shape legs into the bottom of the sand.There is number of test data through the test,which provided a large amount of data to support the subsequent analysis.(3)Process and analyze the test data.Process and analysis the data and the relationship between the stress of the C shape legs wheel in the sand by the motor rotation speed and the depth into the sand,and draw the force distribution.The stress of the interpolation points could be gained by analyzing by the data proper interpolation between the check point.(4)Mathematical model analysis.Based on the experimental data and conclusions draw C-shaped legs wheel and sand effect diagram and analysis to establish the mathematical model of the required parameters,for establishment of bionic Shakey robot 2D motion C shaped leg wheel mathematical model lays the experimental basis and provides theoretical support for it.