Research On Design And Control Method Of Deformable Robot With Multiple Locomotion Modes

In recent years,mobile robots are in the process of rapid development.It has become a common research trend to combine different modes of robots to enhance the adaptability and flexibility of robots.The typical locomotion modes of robots are wheeled moving,crawling and flying.These three locomotion modes have certain complementarity in speed,obstacle-surmounting ability and energy consumption.Combining with spherical shell,they can better protect the internal structure of robots.In this paper,we will design and study a deformable robot with multiple locomotion modes for complex environment detection scenarios.Among them,the gravity-driven differential balance vehicle mechanism,quadruped crawling mechanism and crawling module deformation mechanism which can be integrated into the spherical shell are optimized.The integration of each mechanism and control hardware entity module of the robot and the optimization of the final configuration are carried out in the spherical structure.The force of the robot under three moving modes is analyzed,the kinematics model of crawling and the control model of flying are established,and the processing scheme of the deformable robot is determined.The three-tier control system of the robot is designed,which is the upper control program implementation layer,the embedded software layer and the embedded hardware control layer.The upper layer runs ROS based on raspberry pie 3,and communicates with Xinjiang A3 flight control using serial port and STM32 running embedded software control layer.According to the mechanical entity,the unified model description file of the robot under ROS is constructed.The self-balancing mobile node,quadruped crawling node,quadruped flight control node and locomotion mode switching node are designed.The simulation of the robot's self-balancing,locomotion mode switching and quadruple-rotor flight is completed in the simulation environment.The performance of the control program is verified.The mechanical,sensing and control systems of the robot are integrated,and the gait parameters of the joint variables of each crawling module are calibrated under different locomotion modes.The commands of the control nodes are sent to STM32 through the serial port to control the robot.The experiments of balanced vehicle movement,crawling,locomotion mode switching and flight are carried out.the experimental results are analyzed to verify the functional and performance indicators of the deformable robots with multiple locomotion modes in the three locomotion modes.