Kinematics And Dynamics Analysis,Simulation And Experiment Of Bionic Amphibious Mechanical Crab

With the depletion of terrestrial resources,human beings are paying more and more attention to the development and utilization of marine resources.The effect of the ocean on both the national economic development pattern and the opening up of China also becomes more and more important.Since coastal operations are crucial to the development of marine economy and marine scientific research.China needs a multi-purpose robot that can not only operate on both offshore and land but also be used for long-distance navigation to complete tasks such as mine clearance,marine resource exploration,and marine science data collection.Based on the characteristics of bionic prototype and water gliding machine,this paper focuses on the topic of biomimetic amphibious mechanical crab and conduct research and data analysis on amphibious robots and water gliders at home and abroad.Overall mechanical structure designs.The analysis and the design of walking foot,swimming foot and skeleton were carried out on the bionic amphibious mechanical crab.The design has determined the proportion and the length of each joint of the walking foot;the size and the material of the swimming foot;and the arrangement of walking foot and swimming foot.According to the characteristics of the water glider,the structure and size of the skeleton of the body were determined.The waterproofing scheme was selected to provide a guarantee for the successful completion of the amphibious work,and then a three-dimensional model of the bionic amphibious mechanical crab was established through SolidWorks,and the model data was imported into the ADAMS software for model simplification.Kinematics and dynamics analysis of the mechanical crab walking foot.Through the establishment of the D-H coordinate system,the kinematics analysis of the walking foot and the supporting walking foot were carried out respectively.The results provided the gait control parameters of the walking foot and were used to establish a kinematics model using MATLAB.Through simulation tests,the correctness and workspace range of the kinematics analysis were confirmed.According to the Lagrangian functional balance method,the dynamics of the walking foot was analyzed,and the dynamic equation of the driving torque ofeach joint was obtained.Gait analysis and virtual prototype simulation analysis.The gait of the biomimetic amphibious mechanical crab walking and the swimming foot during underwater swimming were analyzed.Then the walking gait was determined to be "tripod gait",and the floating gait was determined to be parallel arrangement of two swimming feet and reverse swing gait with the same frequency and phase.The simulation software ADAMS was used to simulate the various movements of the walking gait.The dynamic characteristics of the forward,turn and traverse movements under obstacle crossing,climbing and "tripod gait" were then analyzed.Prototype production and experimentation.After processing the designed parts,the prototype was assembled,and the experimental platform was built.The gait experiment of the bionic amphibious mechanical crab prototype was carried out to further verify the correctness of the design and analysis.The underwater driving experiment was also carried out on the swimming foot in order to determine the swing frequency of the swimming foot propulsion efficiency.This is to ensure that the bionic amphibious mechanical crab can work normally in the amphibious environment,which could lay a foundation for the follow-up research work.