Design And Study On The Small Reconfigurable Multi-legged Robot

At present,intelligent multifunctional robots have been widely used in human life,especially in some high-risk environments,the intelligent robots have replaced humans to do related work.In the field of engineering,foot robot is widely used,and its function is more and more complete since the foot robot came out.Based on the traditional multilegged robot structure,in this paper,a modular,autonomously deformable and selfreconfigurable multi-legged robot mobile platform is proposed and designed.Through the design and construction of virtual prototype,and the joint simulation analysis of the prototype,the feasibility of the robot structure and the superiority of the function realization are verified.The main work of this paper is as follows:(1)The mechanical design scheme of a small deformable and reconfigurable multi legged robot is proposed,and the motion mode of its moving limbs before and after the reconfiguration is analyzed,and its kinematics model is analyzed by the improved Denavit-Hartenberg(D-H)parameter method.(2)Aiming at the problem of poor flexibility of the reconstructed robot in avoiding obstacles,a new turning gait based on the lumbar joint is proposed in this paper,which makes the robot more stable during movement.In addition,in view of the problem of the redundancy of the freedom of the multi-legged robot,the multi-legged robot can change the leg into an arm to improve the utilization of robot degrees of freedom.(3)For the control of the designed multi-legged robot mobile platform,the central pattern generator(CPG)control algorithm based on the improved Hopf oscillator is used to realize the basic motion of the single and recombined body of the multi leggedrobot.(4)For the feasibility analysis and modeling of the reconfigurable multi-legged robot mobile platform,a virtual prototype of multi legged robot is built by using the 3D modeling software Solid Works,and a series of simulation analysis experiments are carried out in the joint simulation environment of Simulink and Adams.Through the simulation,the robot's self deformation and self reorganization motion,as well as a variety of different motion gait are realized,which verifies the superiority of the mechanical structure,the feasibility of the control scheme and the rationality of the motion gait of the multi-legged robot system designed in this paper.This paper has 112 pictures,5 tables and 76 references.