Design And Research Of Leg Robot Oriented In Unstructured Terrain

With the development of robot technology and the improvement of intelligence,it has further enriched the application field of robots.In order to improve the environment adaptability of mobile robot,the structure of robot is more and more complex,which leads to more and more difficult control.This paper explores an idea which can improve the adaptability of the robot to the environment under the condition of simplifying the mechanism.A method of combining the design analysis of the mobile robot with the leg configuration designing and the kinematic performance analysising for the unstructured terrain environment is proposed,which is integrated into the requirement analysis is neglected in the general machine designing process.Functional development and other methodological contents form a new idea for the robot design.In this paper,based on the robot design method,through the detailed study of the operating environment and the phenomenon that simple organisms also have high adaptability to the environment,the structure design is simplified and the robot is more adaptable to the environment.In the study of the operating environment of the robot,based on the "scenario analysis",the "man machine service loop" coupling analysis process is used to obtain the required functions of the robot design and the constraints required for the robot design.Through the analysis of the environment,the operating environment of the robot and the key parameters affecting the performance of the robot are obtained.Number,rather than most scholars today,first design the structure and adapt the structure to the environment.Through clustering analysis of the functions required by robot design,the main functions and design constraint parameters of robot design are obtained.In order to simplify the design of the robot's leg structure,starting with the closed chain four bar mechanism analysis,it gradually evolves to the closed chain five bar mechanism,and carries out the configuration design and the kinematic performance analysis.The mathematical model based on the Li Qunli algebra theory is set up,the motion situation of the closed chain five link mechanism is analyzed,and the robot prototype is designed at the end.The experiment was carried out on the typical environment.The structure of the experiment shows that it is feasible for the robot to adapt to some terrain by changing the shape,and it has achieved some effect,and a variety of motion modes make the robot enhance the adaptability of the environment.Robot design is incomplete,and there are some problems such as unstable motion,inconvenient turning and so on.The main work and relevant research contents are as follows:1,In view of the typical leg robot structure,the influence of typical environment on robot structure is analyzed.Four groups of classical legged robot structure were selected,combined with the typical environment of big dog robot running,such as snow environment,beach environment and so on.The influence of environmental details on the function and structure of legged robot is analyzed,such as the influence of beach fine sand on the design of the foot of a big dog robot.2,Select typical working environment segments and use scenario analysis to get the needs and functions of robot design.In the analysis of the robot environment,the "man-machine-Service-loop" is used to analyze the selected environment fragments to present a complete event through a logical connection.The situation analysis method is used to simulate the problems encountered in the running state and operation of the robot,and the user needs of the robot are put forward.The function of the robot should be introduced from the requirement,and the function is analyzed by cluster analysis,and the function sorting of the robot is obtained.Extract the environmental factors and main parameters that affect the important functions of robot design.3,For environment parameters,is used to explore the closed link mechanism adapt to the complex environment.The closed chain multi link mechanism is chosen as the leg structure of the robot.First of all,the closed chain four rods are used as the initial configuration of the leg structure.By integrating the output end tracks of different unstructured terrain,a closed chain five linkage mechanism is used instead of the above four linkage mechanism to improve the environment adaptability of the robot.The leg structure is simplified.4,Lie group lie algebra is studied for the algebraic theory of leg mechanism,including closed chain five bar mechanism singularity and motion characteristics etc..Combining the multi motion mode method,the proportion condition of the length of five connecting rod mechanism is analyzed,and the mathematical model is established under the principle of the five connecting rods,and its singularity is analyzed.We select the length parameters to satisfy the robot design environment and the five link rod length condition,establish the kinematics model and analyze the singularity of leg structure.The running state of robot legs is analyzed by qualitative mechanism.5,we designed and builted the prototype of the four legged robot and tested it.Through environment analysis,movement integration and kinematics analysis,the relationship between the leg length and length of the legs was determined.The prototype of the robot was designed through the relationship of rod length,and the test experiments of flat ground,slope,grassland and step were carried out.