Design Method And Anti-disturbance Performance Study Of The Anole Lizard-like Climbing Robot

The structural health of major infrastructure is related to the stable operation of the economy and society and the safety of people's lives and property.Under extreme environments such as strong winds,high salt and high humidity,the structural health detection of roads and bridges and other major infrastructures is a globally recognized problem.Traditional road and bridge health inspection methods are mostly manual,which is time-consuming and labor-intensive,and cannot guarantee the safety of operations in extreme environments.However,the emerging unmanned electromechanical system was difficult to move and detect in a large range in the face of extreme environment such as strong wind.On the one hand,the rotor unmanned aerial vehicle and other systems were difficult to maintain stability under the continuous disturbance of irregular strong wind and cannot guarantee the accurate access to the closed space.On the other hand,the climbing robot with fixed track cannot move in a large range,and the installation of track also causes some damage to the facility structure.The research of climbing robot with the ability of full space movement provides a new idea to realize the health detection of major infrastructure structures in complex environment.However,most of the traditional climbing robots focuse on climbing without considering the problem of stable climbing in extreme wind disturbance environment.By chance,biologists discovered an island lizard that survived the hurricane.The research on the mechanism of anti-strong wind may provide a new method to realize the stable climbing of robot in strong wind disturbance environment.Therefore,based on the research of the mechanism of stable climbing of lizard in strong wind disturbance environment,this thesis proposed a set of bionic design method to imitate the structure and movement mode of biological body,designed and implemented a set of prototypes of climbing robot of lizard,and verified the effectiveness of stable attachment of robot in strong wind disturbance environment.The main work and innovation of this thesis are as follows:1.In response to the problem that the mechanism of stable attachment of Anole lizards under strong wind disturbance is unclear,a toe adhesion and dis-attachment model combining claws and foot pads was established from both its morphological structure and locomotor behavior to reveal the mechanism of flexible foot pads adhesion and disattachment process of Anole lizards to maintain stability;The aerodynamic characteristics of its body structure and the flow field characteristics of the system combining environmental barriers and the body are analyzed,and the essential mechanism of the Anle lizard making full use of the air pressure difference to enhance its own pressure on the wall and reduce the outwardly induced overturning force was revealed.2.Guided by the aerodynamic theory of the body structure,through the evolution of the Anole lizard-shaped structure,and based on the principles of similarity and equivalence,an equivalent design method for an imitation Anole lizard climbing robot is proposed,which has multi-level flexibility;According to the principle of average stress,the bionic toe bone and then the flexible adhesive foot is designed;According to actual requirements,the agile bionic leg mechanism was designed by simplifying the leg freedom.3.Supported by the theoretical analysis of Anole lizard movement,through the modeling and characterization of Anole lizard spine oscillation behavior,the Anole lizard movement rhythm control strategy was studied,an Anole lizard imitation robot gait generation method was proposed,and the bionic control system and motion motor drive hardware system were designed.4.To verify the anti-wind disturbance characteristics and foot adhesion performance of the bionic robot,a climbing performance test platform and a small wind tunnel platform are designed,and the aerodynamic performance and adhesion performance of the robot are tested and verified.The results show that the pressure state of the robot body can be effectively changed by changing the arc of the robot's abdomen.The whole machine is pressurized by 1.6*4N at 10m/s wind speed.The greater the abdominal curvature,the greater the pressure on the body towards the wall,which enhances its adhesion performance.The attachment mode of paw and foot pad can effectively enhance the bearing range of load capacity and induced overturning force,extend the stability range,and the toe adhesion performance can reach up to 50 N under the pre-pressure of 20 N.