Study On Isobaric Regulatoion Mechanism And System Of Spiny Gripping Feet

Bionic claw climbing robot adapts to the rough and dusty wall environment widely existing in nature,and has a wide application prospect in disaster search and rescue,military reconnaissance,asteroid detection and other fields.The key to the performance of a wall climbing robot is to grasp the attached foot with claws,the existing robot claw feet are passively adapted to the wall morphology based on the elastic deformation of the compliant structure.There are few claws attached to the wall effectively,and the bearing capacity of the claws in the grasping state is related to the elastic deformation of the compliant structure,and the load is mainly concentrated on a few claws.The key to improve the crawling stability and environmental adaptability of the bionic claw thorn wall climbing robot is how to effectively control the grasping state of the claw thorn array according to the complex shape of the wall,distribute the load evenly on all the claws,and give full play to the maximum grasping potential of the claw thorn foot.This thesis is based on the principle of biological sac structure regulation,an isobaric control claw foot structure based on flexible film structure is designed.The adaptability of claw array to rough wall and complex morphology is analyzed,and a prototype of isobaric control claw foot is developed.The main achievements and innovations of this thesis are as follows:(1)This thesis analyzes the regulatory role of biological fluid sac structure in the process of foot adapting to complex wall surface,designs the membrane structure of claw thorn foot isobaric regulation by imitating the biological fluid sac structure,compares and analyzes the mechanical characteristics of Bionic Membrane Structure under different structural parameters,and carries out the research on the preparation process of bionic membrane structure.(2)The structure of passive constant pressure control claw foot and passive elastic compliant claw foot were designed.The adaptability of wall morphology and load distribution of the two kinds of claw foot were compared and analyzed.The analysis results show that the design of passive constant pressure control claw foot has better grasping performance.(3)An active isobaric control claw foot structure was designed,and the effects of control distance and wall morphology on the claw attachment performance were analyzed.Abionic series control system was designed,and the control method based on the internal driving pressure feedback signal of bionic film was studied.(4)The prototype of passive and active claw foot is developed,and the experimental platform of grasping performance is built.The load distribution between claw arrays is tested and analyzed,and the effectiveness of bionic film uniform load is verified.Based on this,the grasping performance of claw to claw foot is further tested and analyzed,and the feasibility and effectiveness of improving the grasping performance of claw foot based on isobaric control is verified,which lays a foundation for improving the crawling stability and wall adaptability of wall climbing robot.