Design And Research Of A High Mobility Bioinspired Multimodal Octopod Robot

With the progress and development of science and technology,the social demand for robots is higher and higher,and it is widely used in various industries.Common mobile robots can be divided into wheeled mobile robots,tracked mobile robots and legged mobile robots.In practical applications,wheeled and legged robots have wider requirements than crawler robots.The former has the advantages of high operation efficiency,simple structure,light weight and low energy consumption.The latter uses discrete footholds to provide support and traction,and has the advantages of high mobility and terrain adaptability.Therefore,this paper hopes to combine the advantages of the two types of robots to design a multi-mode robot with both leg mode and wheel mode.In order to achieve high-speed movement,inspired by the Moroccan tumbling spider,this paper proposes an involute pedaling and rolling strategy;In order to greatly improve the obstacle crossing performance,an adhesive obstacle crossing strategy is proposed in this paper;Moreover,the concept of auxiliary appendage is introduced in this paper,in order that the robot can complete these two modes better with the help of appendage components.The specific work contents of this paper are as follows:Firstly,the overall structure of the robot is introduced.The transformation of the trunk and the pitch angle can be adjusted.The kinematics analysis and trajectory optimization of leg mechanism and appendage mechanism are carried out.The steering mechanism is designed to make the front leg group have the functions of pitch and yaw adjustment at the same time.Then,the motion mode and strategy of the robot are analyzed,and some performance parameters are obtained,which provides a theoretical basis for the mechanical design of the robot.The walking trajectory and centroid fluctuation trajectory of straight motion are analyzed and calculated,and the turning radius of steering motion is estimated.The stress analysis of the key stage of adhesive obstacle crossing strategy is carried out,and the boundary conditions to realize this function are obtained.The dynamic model of the pedaling and rolling strategy is established to calculate some variables in the rolling process and draw the map.Then,the simulation test and analysis of the robot are carried out,and the atlas in the movement process is obtained,which provides data support for the theoretical analysis of the first two chapters.The simulation model of the robot is established and the simulation environment is set up.The straight motion is simulated,and the data of obstacle crossing height and average speed are obtained.The steering motion is simulated,and the data of turning radius are obtained.The adhesive obstacle crossing mode is simulated,and the data of driving motor torque,foot contact force,trunk pitch angle and obstacle crossing height are obtained.The involute pedal rolling mode is simulated,and the moving speed,pedal force and average speed data are obtained.Finally,the physical prototype design and experimental analysis of the robot are carried out,the performance of the robot in each mode is tested,and the parameters obtained by theoretical analysis and simulation are verified.The engineering design of the robot model is carried out,and a prototype is processed and assembled.The walking mode is tested,and the data of average walking speed are obtained.The experiment of adhesive obstacle crossing mode is carried out,and the atlas of driving motor torque and trunk pitch angle are measured.The experiment of involute pedal rolling mode is carried out,and the data of average rolling speed are obtained.