Design And Research Of Bionic Sea Urchin Mobile Robot Based On Schatz Mechanism

With the development of the times and the advancement of science and technology,robots are playing an outstanding role in more and more fields,and mobile robots are becoming more and more widely used.It is very important to develop a mobile robot with strong mobile performance and more economical applicability.In this paper,the closed chain and connecting link mobile robots at home and abroad are firstly studied.At the same time,combined with the research status of the bionic sea urchin robot,the morphological and structural characteristics,movement mechanism,Schatz mechanism structure and motion characteristics of sea urchin are analyzed to obtain the design idea of the overall structure of the robot.In this paper,the rolling rod of Schatz mechanism is selected as the main body of the bionic sea urchin robot.The main structure of the robot is obtained by extending the spinous spines around the central point of the rolling rod.Several different extension design methods are discussed and analyzed,and the scheme with 12 extended spines is selected.By adding the support rod as the local support structure,the overall movement of the robot is more stable,and the overall structure design scheme of the robot is determined.The movement mechanism and gait characteristics of the robot during the turning process are analyzed,and its obstacle leaping ability is analyzed.According to the characteristics of the robot's plane motion and obstacle crossing ability,the mobile control strategy of the robot in the obstacle plane is studied and planned,and the mobile control strategy of the robot in the obstacle plane is formulated.The virtual prototype of the robot was established in the multibody dynamics simulation software,and the motion ability of the robot to reach any point in the plane was verified through the motion simulation experiment.A simulation model is established for typical obstacles such as slopes,vertical platforms,pits and ditches which may be encountered in the actual use of the robot,and the performance of the virtual prototype is simulated and verified.The three-dimensional model of robot prototype was designed and assembled for experiments to verify the basic mobile performance of the robot.Then a new generation of prototype was made on this basis to verify its obstacle breaking performance and movement ability on real terrain.Designed in this paper based on bionic sea urchin Schatz agencies the main innovation point lies in the mobile robot through the form bionics design will be sea urchin appearance combined with Schatz institutions,in the case of a single degree of freedom drive,allowing robots have the ability to move in the plane of the whole and and has a certain obstacle ability,on the premise of single degree of freedom drive still have relatively good mobile performance,robots have good efficiency and wide applicability.