Prototype Design Of Three-state Bionic Machine And Its Electromechanical Dynamics Research

Bionic machines have many scientific and technical researches all over the world,but most of the functions and working environments are single.In response to this phenomenon,a bionic intelligent machine designed to walk on hard ground,soft ground and water was designed.The bionic intelligent machine has a simple structure and a wider range of applications.Thesis first introduces the based on biological characteristics of six-legged creatures in nature,research and design a three-state hexapod bionic machine system design scheme,mainly including the three-state foot innovation design module,the six-legged motion mechanism Chebyshev module,chain transmission module and steering mechanism module of mechanism composition and working principle,and establish a three-dimensional model of bionic machine parts.Secondly,based on the design of a dual three-legged coupling into the six-legged walking mode structure,for planning a longitudinal "tripod gait",and gait analysis was carried out using mathematical modeling methods.According to the different walking conditions of the bionic machine,the stability analysis and calculation of the "triangular gait" is carried out by adopting the three discriminant methods of static stability,dynamic stability and energy stability.Finally,the three-state foot system is modeled by electromechanical coupling dynamics.Because the three-state foot system is an electromechanical integration system,the three-state foot mechanism is first analyzed dynamically,and then the electromechanical system is used to analyze the dynamics.By coupling the drive system and based on the energy method,the electromechanical coupling dynamic model of the system is established,and based on MATLAB/Simulink simulation software,a three-state foot electromechanical system simulation platform was built for simulation analysis and calculation.