High-impact Bionic Robot Mechanism Design And Its Key Technology

The bionic quadruped robot is a robot designed with mimics of structural characteristics,movement patterns and organ functions.It has the characteristics of large load,flexible movement,wide range of motion and strong adaptability.It can reach human or other land surface.The difficult-to-reach scenes of mobile robots have practical application value in the fields of disaster relief,military investigation,border patrol,family service,entertainment,etc.The bionic quadruped robot has also become one of the important directions in the field of robot research.This topic is derived from the innovation topic of the National Defense Special Zone: "Design and Integrated Integration of High-obstacle Bionic Robot System",aiming at the task requirements in the special environment of the mountainous region of China's border areas,using Yanyang as a bionic object to study its complex terrain.The multi-sports mode and its unique motion structure design a prototype of a high-impact bionic robot platform with multiple motion modes.The specific work is as follows:(1)Based on the graphic data and experimental data,the structure,movement mechanism and gait of the rock sheep are analyzed.The variation pattern of the leg joints during the up and down slope movement is summarized,which provides the basis for the prototype design.(2)Based on the analysis of physiology and motion characteristics of Rock Sheep,a 12-DOF bionic quadruped robot prototype was designed,including the separable body and the leg structure with large activity margin,and the selection and design of the robot hydraulic system.Static analysis of the robot's leg structure.(3)Establish the kinematics model of the robot under DH coordinates,and develop the forward kinematics and inverse kinematics solution;analyze and plan the diagonal trot and climb gait of the robot,and use the segmental fifth-order polynomial to diagonal trot and climb the foot.The end track is planned.(4)Using ADAMS software to simulate the dynamics of the robot,verifying the rationality of the mechanism design and the three-foot trajectory planning of diagonal trot,climbing,and obstacle crossing,and obtaining the moment,angular velocity,speed,force,etc.during the movement.Important data.