Bionic Air-land Robot And Its Flexible Actuating

Spy robot is a special kind of mobile robot,which have great demand on excellent motion performance and good secret work ability.This essay is about the development of an air-land spy robot.Based on the demand,the advantages are compared between different ways of flying and walking,and a robot which combined with rotors and bionic crawling is proposed.By mimicking the posture of mantis,the conceptual design is proposed.A segmented bionic leg is proposed based on the structure of insect leg.The maximum step size and leg lifting height are calculated to help with the optimization of length ratio of leg segments.A multi-body dynamic simulation model is built and simulates the response of landing process.A prototype is built and the result of experiment and simulation are compared.The flexibility of animals' leg plays an important role in ground movement,a series viscoelastic actuator is proposed based on the theory,and closed loop control methods are conducted.In order to accurately identify the parameters of actuator,a viscoelastic constitutive model based on five Mooney-Rivlin super elastic model and viscoelastic model expressed in Prony series is fitted to the tensile response of polyurethane tendons which are used in the actuator.A simulation model based on the model of tendon and an experimental platform of actuator are built.The simulation and the experiment results are compared which proves the practicability of the actuator and the effectiveness of the control methodA spy robot usually has bad working environment and needs to be protected.The exoskeleton is a good choice.Based on the observation of 3D reconstructed model of mantis articulation,a shape bionic flexible joint is proposed.The restrictive conditions are conducted and the stress of skeleton is analyzed by FEM and finally,the prototypes are built and the design of flexible active joint is proposed.The bionic joint has its advantages in flexibility,good bearing capacity and space saving,in addition,it could ‘dislocate' in the case of overload to protect the structure from mechanical damage.