Eight-legged Bionic Crab-liked Robot Motion Coordination Control and Simulation Analysis
|School||East China University of Science and Technology|
|Keywords||eight-legged bionic crab-liked robot screw theory motion control path planning|
According to multi-legged walking robot with flexible movement, high obstacle-climbing ability and complex environmental adaptability, this paper takes crab as prototype for bionic research. Based on the introduction of application prospect and the domestic and foreign development situation of multi-legged walking robot, the main research content of multi-legged walking robot was analyzed. Based on screw theory, eight foot imitation crab robot’s kinematics and dynamics was analyzed, and kinematics and dynamics model was derived. Then inverse adaptive fuzzy controller was designed and used to control walking foot, and outputs can be tracked well. The 3D virtual model was established with Pro/E and then exported to the ADAMS by Mechanical/Pro interface software, and constraint,drive, contact force and other related parameters were set,then eight foot gait was coordinating simulated and analyzed, and displacement, angular velocity, force, torque, energy consumption were obtained. Single and multiple motion parameters were optimized, so joint energy consumption was lowest while at the same time walking robot can still meet the certain obstacle-climbing capability and speed. Finally, the walking robot path planning technology was studied and an improved method of viewed path planning was proposed.