Research On Dynamic Model Of C-Leg Wheel And Sand Action Based On Circular Experimental Platform

In recent years,in order to find desert resources and lunar surface resources,people have began to follow the walking principle of desert creatures,and designed various foot-type bionic robots to detect the desert Among them,because the C-legged bionic robot is similar to the lizard walking in the sand base and it can gain a good passing performance,which has become a research hotspot.On the basis of the existing hexapod bionic C-leg robot circular experimental platform,this paper modified and perfected to ensure that it can walk freely on the soft sand.When analyzing the C-leg and sand,the rim stress distribution law and C The law of the shape of the leg moves to verify the passing performance of the robot on the soft ground.Firstly,the C-shaped leg circular experimental platform was modified and improved,so that it can walk on the soft sand and complete the rim stress data and the slip rate data collection.Through the processing and analysis of the rim stress data,the C shape is studied.The stress distribution of the rim of the leg rim and the rim flange stress distribution when the C-leg is operated at different speeds.Secondly,the force analysis of the C-shaped leg wheel of the robot is carried out to establish the mechanical equilibrium relationship.According to the rim stress distribution characteristics,the integral model is used to calculate the variation law of the hook traction force and the ground support force of the C-shaped leg during operation.The dynamic model of the C-shaped leg;the motion characteristics of the C-shaped leg wheel in the soft sand foundation are studied,and the slip rate of the robot during operation is calculated to study its passing performance on the soft ground.Finally,the data measured by the 3D force sensor is processed and analyzed,and the distribution characteristics of the hook traction force and the ground support force measured by the 3D force sensor are studied,and the error between the hook traction force and the ground support force obtained by the integral model is calculated.Verify the correctness of the data processing method and the integral model.At the same time,the error between the running slip rate and the measured slip rate calculated by the dynamic model is analyzed,and the correctness of the dynamic model is verified.