Research On Adjustable Foot-Track Highly Adaptable Walking Platform

With the advancement of science and technology,mobile robots have also developed rapidly.Common mobile robots mainly include wheeled robots,crawler robots,and walking robots.The walking robot,because of its discontinuous point contact between the foot and the ground,can overcome the unevenness and discontinuity of the ground by its own structural characteristics,thus making it possible to carry out obstacles under low-speed and heavy-load conditions and achieve smooth transportation.By investigating the research status of walking robots at home and abroad,the research of a mobile walking platform with excellent comprehensive performance will have very important research significance.First,on the basis of existing research,comparative analysis of the existing leg mechanisms,the overall closed-leg leg mechanism of six-bar and seven-arm has obvious advantages in terms of structure.Kinematics analysis is performed to determine the legs.The relationship between the member variables.Using Solidworks to model the model in 3D,Adams analyzes each joint force of the model's leg mechanism,optimizes the parameters of each member,and reduces the joint force of the leg,thereby ensuring the carrying capacity of the entire machine and the entire machine.The stability of the machine is modeled and analyzed after optimization,and the correctness of the parameters after optimization is verified.Then,through the modeling of a single leg mechanism,the sensitivity of the rod length of the main rod is analyzed in Adams,and the simulation results are compared and analyzed.The rack with the highest sensitivity is adjustable and designed through the thigh bar and the machine.At the junction of the rack,the mobile pair is added and driven by a linear motor to adjust the length of the rack,thus changing the foot-end trajectory,modeling the leg mechanism through Matlab,and adjusting the length of the rack to observe the foot The change of the end trajectory determines the validity of the foot trajectory.Through Solidworks modeling the mobile carrier platform and importing the model into Adams,the dynamics simulation analysis was performed.The change of the pole length of the rack was taken to compare the two limit values.The analysis mainly included crossing the trenches,Overlooking vertical walls,climbing slopes,walking in a straight line,etc.,and comparing the foot-end stress,center-of-mass fluctuation,and motor output torque under different rack parameters.Finally,according to a certain proportion of the specific parameters of the design,prototype design,selection of components such as motors,bearings,bolts,couplings,sleeves,gaskets,etc.,and the rods of the frame,motor frame,and leg The parts are structurally designed for strength check of key components to ensure the stability of the prototype and to assemble,debug,and test the prototype.