Development Of The Experiment Equipment For Bionic Sand Robert The Two Dimensional Motion C Shape Legs Ring Experiment Platform For The Design And Control Strategy Of Research

The light and flexible sand Robert can not only complete the exploration of the deserts,grasslands,mountains and other complex terrain,it can also be applied to explore the surface of the moon or mars.In order to further ascertain bionic robot until 2 d C shape legs flange and the stress distribution of the role of sand,designed a two-dimensional motion C shape legs annular experimental platform.Test bench in total is divided into three modules:mechanical device,the control system,data acquisition system.Circular platform as the main framework of mechanical device,the center pillar for anchoring,three C shape legs round harmoniously,do rotation around the center pillar,save a space,convenient data acquisition,among them,the C shape legs used the crank connecting rod mechanism making two-dimensional motion system;With Siemens S7-200 PLC as the core controller structures,ring experiment platform control system,the use of PLC with Modbus RTU protocol and communications,servo motor controller based on C shape leg angular displacement of implementing the three ring experiment platform C shape legs round harmoniously.Test C shape legs shaft installed on four component force sensor,measure the C shape legs upward force obtained,traction and drive moment,6 groups of sensors installed on the C shape legs rim(including normal stress and shear stress sensor in each group a),measure the C shape legs rim of normal stress and shear stress;LabVIEW data acquisition software structures,high speed data acquisition system,the use of wireless switch,conductive slip ring,signal conditioning circuit,the original data of dynamic and static transformation,standard signal conversion and filtering,high speed data acquisition card,high precision of standard signal synchronous clock,LabVIEW virtual software,storage,processing,etc.Ring experiment platform can analyze the data collected C shape legs force of the robot when walking on the soft sand,in order to optimize the C shape leg size and wheel structure,the C shape legs in and out of the sand into the sand when the Angle with the speed and push the sand in the process of sand in the stirrup influence on support and traction,such as looking for C shape legs against the robot when walking on the sand of the optimal control scheme(minimum energy consumption,the fastest)provides a theoretical basis.