基于类蜘蛛仿生煤矿救灾机器人步态研究

Research on mine rescue robot's gait based on bionics similar to spider

基于类蜘蛛仿生多足煤矿救灾机器人是一种具有冗余运动、多支链、时变拓扑运动机构的特种机器人,利用类蜘蛛仿生煤矿救灾机器人模仿了蜘蛛的行走特点,遵循蜘蛛行走时的摆腿顺序,在不同情况下设计不同的摆腿行走顺序,使煤矿救灾机器人的灵活性以及对复杂环境的适应性大为增强,能够快速灵活的进入煤矿巷道中,对巷道中的复杂情况进行及时了解并及时处理。通过对机器人学的研究,能更好的符合仿生学的发展方向和趋势,使步态模仿蜘蛛法达更加合理稳定的效果,进一步提高机器人的行走速度,缩短救援时间,加强救援能力。

The coal mine disaster relief spider bionic-robot which multiple legs is a special robot, which has redundant movement, multiple branched chain and time-varying topology motion mechanism. The coal mine disaster relief spider bionic robot imitates spiders＇ walking in features and follows the spiders＇ swung feet sequence. In different conditions different rules of swung legs sequences are designed. The robots＇ flexibility and adaptation to complex environments are greatly enhanced. It can enter coal mine tunnel more quickly and flexibly and get acquaintant timely with complex conditions of the coal mine and then deal with them. With the research on robotics it con be made suitable for the bionics development trend which makes the gait imitating reach to the more reasonable and stable effect and increase greatly the robots＇ walking speed and shorten the rescue time and improve the rescue ability.