Multi-Mode Motion Control Of Bionic Sanke Robot In Typical Environment

A variety of robots are playing an increasingly important role in human society,while bionic robots imitate the movement mode of animals and have more natural advantages in exploring unknown environments,post-disaster rescue and battlefield reconnaissance and other complex environments.Snake-like robot is a kind of robot that imitates the structural characteristics and movement mode of biological snakes.With slender body and high flexibility,snake-like robot can adapt to rugged and complex natural environment and narrow space that is difficult for human to enter,but its movement adaptability is poor in complex terrain with multiple obstacles.This paper studies the bionic snake-like robot in complex environment of a variety of exercise behavior,because of the lack of snake-like robot in the steps of the high and narrow obstacles in 3 d terrain movement research,thus in this paper,we study how the snake-like robot through the above two kinds of terrain,a three dimensional obstacle main work is as follows:(1)According to the body structure and movement mechanism of biological snakes,two snake-like robot prototypes were designed for the environment of step obstacles and narrow obstacles respectively.The first prototype was orthogonal joint and was driven by active wheels,which could provide enough power when climbing step obstacles.The second spline switches between parallel and orthogonal connections,and each side of each joint of the robot is covered with passive wheels to increase the pass rate in narrow obstacle environments.(2)Basic bionic movement of snake-like robot is presented in the paper,the plane motion of robot joint mechanics modeling and analysis,the planar motion of snake-like robot is suitable for control function is extended to three dimensional motion function,achieve the basic bionic gait of snake-like robot control,using the simulation software of several basic modes of motion simulation verification.(3)For the terrain of step obstacles,this paper proposes a method of climbing step obstacles autonomously based on active wheel snake robot.The step obstacles are sensed by laser ranging sensor and its height is calculated,and then the robot is driven by active wheel to climb step obstacles.By using this method,the robot can detect step obstacles and climb up or down obstacles with a height of 276mm(33% of the length of the snake robot body)without human control.(4)For narrow obstacles terrain,this paper analyzes the robot joint mechanical model when the collisions with obstacles,adaptive force dynamics model is established,designed based on the adaptive detection of load force PD controller,can according to the joint force to change its point of view,makes the robot can automatically adapt to the terrain,avoid obstacles and Using this controller,the snake-like robot can cross the narrow and short distance obstacle terrain with a width of 65mm(125% of the robot width).A gait transformation strategy for snake-like robot crossing complex narrow obstacle terrain is designed,so that the robot can detect and switch gait simultaneously when crossing complex narrow obstacle terrain,crossing the narrowest 60 mm wide obstacle terrain.(5)The designed gait and control method are realized on the robot prototype,and the obstacle environment required by the experiment is built.The basic bionic gait of the robot is experimentally observed,and the control method of climbing steps and the strategy of crossing narrow obstacles are experimentally analyzed in the obstacle environment,so as to verify the actual performance of the proposed control method.