仿生粘附式尺蠖机器人设计及分析 The Design and Analysis of the Biomimetic Adherent Inchworm-Like Robot

本文针对未来空间寄生武器发展的需要，提出了一种结合壁虎刚毛粘附材料和尺蠖运动形式的仿生粘附尺蠖机器人。本文首先对仿生粘附式尺蠖机器人的机构、电气系统和控制策略进行总体设计，并设计出机器人各电气元件之间的接口关系和半自主的控制策略。设计了粘附吸盘的主体结构和粘附材料结构，并完成了粘附材料的对比选型和粘附力计算。为粘附吸盘设计了3个距离传感器，并完成了基于距离传感器的粘附吸盘和目标表面的位姿解算。采用Deanvit-Hartenberg方法对仿生粘附式尺蠖机器人进行了运动学建模，并进行了机器人的步态规划，设计了机器人的“一字”步态。最后利用Adams软件搭建机器人的虚拟样机模型，对尺蠖机器人的“一字”步态进行了仿真，验证了步态规划结果的准确性。 In view of the need of future space weapons’ development, it proposes a kind of biomimetic adherent inchworm-like robot, which combines the biomimetic gecko adhesive material and the movement mode of geometer. The mechanism, electrical system and control strategy of the bio-mimetic adherent inchworm-like robot are designed in this paper. Then, it designs the interface relationships between each electrical element and the semi-autonomous control strategy. The major structure and adherent material structure of adherent sucker are designed in this paper. Then it accomplishes the comparison of the adherent material and the calculation of the adhesive power. After that, it designs three range sensors for the adherent sucker. And base on the range sensors, it accomplishes the calculation of the position and pose between the adherent sucker and target surface. This paper uses the Deanvit-Hartenberg method to set up the kinematic model of the biomimetic adherent inchworm-like robot. Then it accomplishes the gait planning of the robot, and designs the “One Gait”. At last, it sets up the virtual prototype model of the robot in the software Adams, and it carries out the simulation of robot’s gait, verifying the correctness of the gai planning.