Research On Key Technologies Of Land-air Integrated Bionic Robot

Compared with the traditional aerial robots and land robots,they only have a single movement ability,and cannot cope with different geographical environments.Based on the bionic research on the physiological structure of spider legs,this paper designs an integrated bionic robot with land and air motion capabilities,and carries out some research work in mechanical structure design,hardware system integration,and control and navigation algorithm design.On the basis of bionic research on the physiological structure of spider's legs,the flight structure selection,rotor number and layout,flight principle,leg distribution,single leg structure and leg degree of freedom are analyzed for the integrated robot.And the design of flight mechanism,crawling mechanism and the whole system is realized.Based on the forward and inverse kinematics analysis of the D-H model,the relationship model between the rotation angle of each joint of the robot leg and the position of the foot end of the leg is established.By introducing the calculation of stability margin,the static stability analysis of the robot is realized.The multi-gait design is carried out for the crawling movement of the robot,and the duty cycle and stability of the multi-gait are analyzed,and then the multi-gait switching control based on the external environment is realized.For the control modules in the system,including navigation controller,flight controller,and crawl controller,the function analysis and design are carried out.On this basis,a system integration design is carried out in combination with functional modules such as power system,lidar navigation,data communication,image acquisition,and power supply.In order to realize the fixed-point hovering function of the robot,a solution based on the optical flow sensor is adopted.Designed a VFH-based navigation algorithm for robot flight avoidance,which improves the robot's intelligence level.Based on the above research work,the principle prototype of the bionic robot was developed and the system function was actually verified.The research results have reference significance for the future development and application of the land-air integrated bionic robot.