Wang Zhuo, Peng Wanlang, Zhang Bo
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China.
Biomimetics (Basel). 2024 Feb 28;9(3):147. doi: 10.3390/biomimetics9030147.
Longer distance water delivery culverts pose obstacles such as deposited silt, stones, and dead trees. In this paper, a crawling robot is designed to mimic the joint structure of a turtle using bionic design principles. The mechanism and gait of the robot are analyzed. The kinematics model of the robot is established using the D-H method and analytical approach, while the dynamics model is established using Lagrange's method. Based on kinematics and dynamics analysis theory, compound cycloid and cubic polynomial motion trajectories for the robot foot are planned along with a crawling gait resembling that of a turtle's abdomen. Simulation experiments and scale prototype experiments confirm that when gait parameters are identical, the energy consumption of compound cycloid trajectory exceeds that of cubic polynomial foot trajectory. When planning these two types of foot trajectories, it was observed that energy consumption ratio decreases with increasing step length but increases with increasing step height.
较长距离的输水涵洞存在诸如淤积泥沙、石块和枯树等障碍物。本文运用仿生设计原理，设计了一种模仿乌龟关节结构的爬行机器人。分析了该机器人的机构和步态。采用D-H法和解析法建立了机器人的运动学模型，同时运用拉格朗日法建立了动力学模型。基于运动学和动力学分析理论，规划了机器人足部的复合摆线和三次多项式运动轨迹，以及类似乌龟腹部的爬行步态。仿真实验和缩尺原型实验证实，当步态参数相同时，复合摆线轨迹的能量消耗超过三次多项式足部轨迹。在规划这两种足部轨迹时，观察到能量消耗比随步长增加而减小，但随步高增加而增大。
