Research On Four-legged Bionic Robot With Wheel-foot Integration

The wheel-footed robot has a strong adaptability to the unstructured environment,and at the same time avoids the disadvantages of difficult control.It is one of the hot research hotspot in the field of robotics.However,many researches on wheel-footed robots are wheel-and-foot-separated.The structure of the robot is relatively complicated and is subject to the limitation of the environmental space.Therefore,it is of great theoretical and practical value to rationally optimize the structure of the robot and enhance its universality.In this paper,the hunter spider is used as a bionic research object.According to the biological structure of the hunter spider and its unique movement mode,a fourlegged bionic robot with wheel and foot integration is developed.The robot has a simple structure and strong universality.First,the robot's bionic body structure is designed.The biological structure of the hunter spider is studied,and the characteristics of limb movement during the conversion process of the movement mode are analyzed.The threedimensional model of the bionic robot is designed by using Creo2.0 software,and the overall assembly of the bionic structure model is completed.The principle of wheel and foot conversion of robot is studied.The rationality of the design of the bionic structure is preliminarily verified by the leg reorganization,which lays the foundation for the subsequent establishment of the virtual prototype and prototype experiment.Second,kinematics and dynamics analysis are performed on the bionic robot.The kinematics model of the bionic robot is established by D-H method.The forward and inverse kinematics are solved and verified by analyzing the posture of the robot leg.The dynamic characteristics of the bionic robot are obtained by Lagrangian equation analysis,which provides a theoretical basis for the optimization of the robot structure design and the selection of the drive device.Then,the virtual prototype simulation of the bionic robot is carried out.In the Adams software,constraints and drivers are added to each component,a virtual prototype of the bionic robot is built.The virtual prototype simulation movement is performed under the function of the driving spline function,and the driving torque,the rotation angle and the mass center displacement of each joint are obtained,which further verifies the rationality of the robot bionic structure design,and provides a reference for the selection of hardware such as steering gear.Finally,the control system of the bionic robot is designed.According to the connection mode between the motion total control board and the steering gear control board,the electrical system is designed and the control program is written;Based on functional requirements,the overall design of the control system is completed.The 3D printing technology is used to build the prototype of the robot,and the motion performance of the bionic robot is tested by the bionic motion experiment.The rationality of the structural design and the reliability and correctness of the control system are verified.