Key Technology On Four-legged Robot On Complex Terrain And Environment

In the natural environment,the ground environmental information displayed is rarely flat,most of the sloping fields are irregularity,the result is that the wheeled and caterpillar structures can not work normally.However,animals such as insects can free access around the rugged mountains and hills,and they are easy to adapt to the complex terrain.The four-legged robot system which is designed by the principles of bionics plays an important role in the industry of services,material transportation,industrial detection,accident handling,anti-terrorism and so on.In this dissertation,the research is based on the four-legged robot system's performance optimization design of the movement mechanism and control system development.And a four-legged robot system with all terrain adaptability is realized.The main research content of this dissertation is as follows:In this dissertation,four-legged robot is the research object,the structure is designed according to the principle of bionics design,and the robot adopts a symmetrical modularization design scheme with tow degrees of freedom for each leg.And then kinematic analyzed on a single leg of the robot,completed the derivation of the positive kinematic equation,simulated with ADAMS software,obtained the curve of displacement,velocity,acceleration and the trajectory map.An adaptive weighted particle swarm optimization algorithm is proposed to dynamically set the learning factor,and analyzed the performance and convergence of the algorithm.Tested the performance of the algorithm by comparing the four evaluation functions.And according to the adaptive weighted particle swarm optimization algorithm,optimized the leg structure and the performance of the motion mechanism.To designe the four-legged robot electrical system,including the main control unit,drive module,power supply module,communication module and peripheral circuit,and analyzed the electromechanical system of the drive module.To develop the four-legged robot software system by Python2.7,and operating environment is Raspbian operating system.Including initializing system parameters,initializing serial protocol,generating target position,converting target position into robot control command,sending command,controlling four-legged robot movement.Building a four-legged robot experimental platform.And the robot parts are processed by 3D printing technology,then assembled the parts and conducted the experiment.Through experiments,it was verified that the robot can realize the movement function.