The Design Optimization Of The Linkage Foot Robot

With the rapid development of intelligent technology,the technology of robots has become one of the most concerned topics in the world today.The walking mechanisms of existing mobile robots in the world can be roughly divided into: multi-legged,wheeled,hybrid(such as wheel-leg hybrid,wheel-track hybrid),crawler,and other special forms(for example: snake Shape sliding type,polygon rolling type).These structures have their own advantages and disadvantages.For example,wheeled robots have weak obstacle-crossing capabilities but high moving efficiency,leg-foot robots have low moving efficiency and poor load stability but have excellent obstacle-crossing performance,crawler-type robots move slowly and consume power.It is larger,so one can either walk efficiently on a regular road surface,or freely drive and climb over obstacles in outdoor environmental terrain and relatively complicated terrain(such as the ruins after an earthquake,the site of a mine disaster),and at the same time take into account It is particularly important that load sensors and items require mobile robots that have good load stability.The mobile robot proposed in this paper adopts a new and reliable link foot drive mechanism.This link foot movement structure combines the advantages of foot and link.It uses multiple sets of links to switch and compensate the movement.The control motor adopts the in-phase device and the connecting rod to perform double forced in-phase,which makes up for the lack of movement caused by the singular point of the connecting rod.At the same time,the leg-foot motion mechanism makes it flexible to adapt to the terrain during walking.And through adjustment,it can make some robots sacrifice the moving speed of a certain mode to improve the stability of the robot load platform.Therefore,the link-foot mobile robot designed in this paper can have better performance in the process of walking or crossing obstacles.Load stability,no violent jitter and jitter.First of all,this article suggest the backdrop and significance of the theme,and then analyzes the domestic and foreign research status to lead to the design of the connecting rod foot robot,and the specific parts and materials design of the connecting rod foot mobile robot and the robot's overall machinery Make an introduction to the structure.Next,analyze the kinematics and dynamics of the robot described in this article.By establishing a reference coordinate system,the robot's posture and motion laws in the coordinate system are explained at the same time;the robot's kinematic model in the plane coordinate system is analyzed.Afterwards,it focuses on explaining the motion principle of the connecting rod foot robot and analyzing the stability.This part mainly analyzes the motion principle of regular terrain and the two forward modes under regular terrain and the analysis of the obstacle-climbing climbing movement under non-regular terrain.The static stability of the robot when crossing obstacles is explained from two angles: the height of obstacle-crossing limit and the climbing limit.The control system design part of the robot is as follows: one is to introduce the overall design of the control system,and the other is to describe the software part and the peripheral hardware part in detail.Finally,due to the theoretical analysis of this article,a test prototype was made,and the feasibility and reliability of the design scheme of this paper were verified by carrying out experimental research on the basic performance of the prototype of the connecting rod foot robot.Through the analysis of the theoretical part of this article and detailed exploration experiments,a new type of link-foot mobile robot is realized.The mobile robot is a type that can not only ensure the moving speed and walking efficiency of the foot-legged robot through the link mechanism in regular terrain,but also use the characteristics of the leg-leg type in non-regular terrain to retain the ability to overcome obstacles,and has the ability to In complex terrain,the advantage of controlling the switching mode to reduce the vibration caused by the contact between the foot and the ground when moving.The robot has the advantages of high moving efficiency,strong obstacle-crossing ability,and strong load stability.It is suitable for the situation of smooth road surface high-speed walking,complex terrain stable obstacle crossing,and transportation of goods.We believe that the robot may provide an important reference for future research on environmental detection and transportation robots.