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Biomimetic Motion Analysis And System Development Of Miniature Modular Robot

Posted on:2020-03-03Degree:MasterType:Thesis
Country:ChinaCandidate:X ChenFull Text:PDF
GTID:2428330596495254Subject:Mechanical engineering
Abstract/Summary:PDF Full Text Request
Since the first industrial revolution,machines have been used instead of manual labor for hundreds of years.Compared with human labor,robots make the process of automation develop very rapidly.Reconfigurable Modular robot is a new development direction of robot.The module robot is composed of a set of modules with the same interface,which can be assembled into different robot configurations according to different tasks.Traditional robots are generally used for a specific task,such as welding or handling.For traditional robots,there are mainly the following defects: Working fot one task,the cost is high,the robot configuration is fixed,the freedom is fixed and the fault tolerance rate is low.And the Reconfigurable Modular robot is a new type of robot.Compared with traditional robots,reconfigurable module robots are more adaptable to tasks and environments.Modular robot has the advantages of simple design,short research cycle and low cost,and has become a hot research topic in the field of robotics.The ontology research of Module robot and Bionic module robot have become a trend of robot development.This paper mainly realizes a lightweight modular robot system —— UnitBot.It is different from large modular robots,and small modular robots are not used in heavy load situations.UnitBot is a personal robot,or a consumer robot.This paper makes a correlation study from five aspects of modular robot methodology,module robot system,modular robot configuration,robot control software and Bionic robot motion analysis.The research content of this paper has certain theoretical and application value,the main research are as follows:(1)Through the modularization methodology and the functional requirements of the small module robot,the design method of the small module robot is put forward.Complete the system design of UnitBot module robot.(2)By using distributed control method and combining with the characteristics of module robot system,the corresponding control system(software and hardware)is designed.The software framework of the module robot is designed by using the ROS(Robot Operating System)software framework.The parametric expression of the robot is carried out by means of URDF/Xacro file description method,and the motion chain of the module robot is built under ROS.(3)Two common bionic robots are analyzed: Serpentine robot and double-wheeled foot robot.The force analysis and Serpenoid Curve motion modeling of the Serpentine robot in different planes are carried out.The kinematics model of the double-wheeled foot robot is established,and the stability criterion is analyzed,and then the gait planning is carried out.
Keywords/Search Tags:Modular robot, Snake-like robot, Wheel-foot robot, ROS
PDF Full Text Request
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