Research Of The Bionic Robot C Leg Wheel And Sand Sediment On Stress Distribution Characteristics

In a complex geographical environment,it is difficult for humans to explore the field,so we need robots to complete these projects.The bionic six legged robot grasping its existing performance,and not easy to subsidence in soft medium,but walking in the sand,the slip rate is still large.Therefore,in the project of C shaped leg wheel and sand interaction,C shaped legs and wheels in the sand movement,the shear stress and normal stress in the support force in the proportion of traction,driving,to reveal the mechanism of C shaped leg wheel sediment,subsidence model of slip to establish round sand effect,provide a theoretical basis for the optimization of C shaped leg structure.We designed a C shape leg ring experiment platform,and conducted a series of experiments,the main work of this paper is the sensor selection and installation method,the content of experiment,data analysis and processing method and the stress distribution characteristics,the specific contents are as follows:(1)the design of C legged wheel and the preparation of experimental device.In this paper,the experimental equipment includes:hardware development and software design.The hardware part mainly includes the electrical part and the mechanical structure.Electrical hardware selection in AC servo motor,rotary encoder,cantilever weighing sensor,four force sensors and other devices;mechanical structure hardware is mainly composed of smooth slide,reducer etc.,according to the C shape leg wheel movement mechanism,the cantilever beam sensor to install the best structure in the C shape leg wheel.The software design mainly includes:eight high-speed data acquisition card and host computer lab VIEW program,used to realize the cantilever beam sensor,four component sensor and encoder data acquisition,transmission.(2)in the experiment in order to verify the accuracy of the sensor data,we are in a series of experiments,finally decided to take the four component sensors installed in C rotating shaft shaped legs,more accurately measured by the force commander in the leg,the sensor data and the four force data synthesis comparison,verify the correctness of sensor data.(3)experimental study on the interaction between C legged wheel and sand.The experiment process mainly includes sensor calibration,no-load test and sand movement test.The control method is adopted to control the speed of motor,load weight,and the switching of one-dimensional and two-dimensional states.The collection of multiple sets of data provides a large number of data support for subsequent analysis.(4)data processing,analysis and stress distribution characteristics.Processing of experimental data collection,data interpolation in the test point,get by in a state C shape leg wheel surface throughout the force,use the formula to calculate the C type leg wheel in the sand movement by shear stress and normal stress in the proportion of traction,laid the theoretical foundation of mathematics model C leg wheel.