CN115214815A - Gait analysis-based multifunctional bionic spider leg execution mechanism capable of realizing negative pressure climbing - Google Patents
Gait analysis-based multifunctional bionic spider leg execution mechanism capable of realizing negative pressure climbing Download PDFInfo
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 100
- 230000005021 gait Effects 0.000 title claims abstract description 22
- 238000004458 analytical method Methods 0.000 title claims abstract description 21
- 230000009194 climbing Effects 0.000 title claims abstract description 20
- 210000002414 leg Anatomy 0.000 claims abstract description 94
- 210000001503 joint Anatomy 0.000 claims abstract description 36
- 210000000629 knee joint Anatomy 0.000 claims abstract description 34
- 210000001699 lower leg Anatomy 0.000 claims abstract description 27
- 210000000689 upper leg Anatomy 0.000 claims abstract description 22
- 230000009193 crawling Effects 0.000 claims description 27
- 238000004364 calculation method Methods 0.000 claims description 19
- 231100000817 safety factor Toxicity 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 14
- 230000003068 static effect Effects 0.000 claims description 14
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- 230000000737 periodic effect Effects 0.000 claims description 6
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- 244000309466 calf Species 0.000 claims description 4
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- 238000013461 design Methods 0.000 abstract description 3
- 235000001968 nicotinic acid Nutrition 0.000 abstract description 3
- 241000239223 Arachnida Species 0.000 abstract 1
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- 208000034530 PLAA-associated neurodevelopmental disease Diseases 0.000 description 1
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- 238000000331 delays alternating with nutation for tailored excitation Methods 0.000 description 1
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- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention relates to the field of mechanical bionics, in particular to a leg execution mechanism of a multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis. The invention imitates the leg structure of spider objectives in Arachnida, skillfully designs three steering engines of a rotary joint, a leg joint and a knee joint to connect thighs, shanks and a main board of a bionic spider, and prints the thighs and the shanks of the spider by a three-dimensional printer. The obstacle avoidance and obstacle crossing performance of the bionic spider is improved, and the problem that the turning radius of the original machine is too large is solved. The bionic spider can be adsorbed on a slope surface and a vertical wall surface by installing the sucker hardware fitting and the sucker on the spider lower leg, and the leg execution mechanism is controlled to move to realize climbing on the slope surface and the wall surface.
Description
Technical Field
The invention relates to the field of mechanical bionics, in particular to a leg execution mechanism of a multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis.
Background
The existing bionic crawling products on the market mostly adopt a four-foot or six-foot mechanism, and the eight-foot mechanism is adopted in the bionic crawling products, so that the gait of the spiders is better simulated, the crawling stability of the bionic spiders is enhanced, and the bionic crawling products are suitable for complex terrain environments. Each foot has 3 degrees of freedom, and the total of 24 degrees of freedom of 8 feet can realize more functions. Most of the existing wall climbing machines do not adopt a foot type to carry out negative pressure climbing, and the product adopts negative pressure to carry out adsorption and utilizes a foot type mechanism to carry out climbing.
In recent years, with the development of bionics and scientific techniques, research on bionic legged walking machines has become a focus of attention of scientists. The research on the bionic foot type walking animals is relatively early abroad, and the foot type machinery is deeply researched in the United states and Japan, so that the bionic foot type machinery with certain functions is developed by respectively simulating the morphological characteristics of different organisms. In 1968, mosher in the United states invented a four-legged car "Walking Truck". The vehicle is provided with 4 legs driven by a hydraulic servo motor, a position sensor on the vehicle body can complete a position detection function, although the overall operation of the four-legged vehicle is relatively laborious, the obstacle avoidance and crawling functions are realized, the vehicle is an important turning point for the development of modern bionic legged walking machines, and a good foundation is laid for the development of a spider-imitating mechanical technology.
To reduce the risk of landing operations, U.S. MIT developed a six-legged mechanical Ariel for shoal mines with 2 rotational degrees of freedom per leg that performs the function of turning the walk. The body part is provided with an attitude sensor and a compass, and the whole machine circuit and the controller are sealed in a cavity, so that the robot has the functions of automatic detection, water resistance and the like. A cabled eight-legged walking machine DANTE developed by the University of Carnegie Mellon University (CMU for short) in usa, which is used for the investigation of south pole ebbs volcano and returns a large amount of precious images and data.
The literature data disclosed at present shows that most of the bionic spiders have the crawling function in a complex environment, but the research on the flexible climbing capability on slopes and vertical walls is relatively limited, and the bionic spiders are limited to play specific functions to a certain extent.
Disclosure of Invention
In order to overcome the capability that the existing crawling bionic robot cannot crawl on a complex ground, an inclined plane and a vertical wall, the invention provides the leg execution mechanism of the multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention provides a leg actuating mechanism of a multifunctional bionic spider, which can realize negative pressure climbing based on gait analysis.
One end of the swivel steering engine is fixed on the multifunctional bionic spider, and a steering wheel at the other end of the swivel steering engine is connected with one end of the cross-shaped bracket; the other end of the cross bracket is connected with a rudder disc of the leg joint steering engine; the leg joint steering engine is fixedly connected with one end of the spider thigh and controls the spider thigh to swing; the other end of the spider thigh is connected with a knee joint steering engine; a rudder disc of the knee joint steering engine is connected with two arms of the long U-shaped bracket; the bottom of the long U-shaped bracket is connected with the outer circle side face of the upper end of the spider crus; the knee joint steering engine is driven by the long U-shaped bracket and controls the movement of the spider shank; the axis of a steering wheel of the swivel steering engine is perpendicular to the axis of a steering wheel of the leg steering engine, and the axis of the steering wheel of the leg steering engine is parallel to the axis of a steering wheel of the knee steering engine. The lower end of the spider shank is provided with a threaded hole; the middle part of the sucking disc hardware fitting is provided with a thread matched with the threaded hole of the spider shank, and the sucking disc hardware fitting is connected with the spider shank through the thread; the lower end of the sucker hardware fitting is connected with the sucker. The upper end of the sucking disc hardware fitting is connected with the air path, so that the spider leg executing mechanism has a negative pressure adsorption function.
As the preferable scheme of the invention, the sucking disc hardware fitting is connected with the sucking disc through the hexagonal nut. .
In a preferred embodiment of the present invention, the spider thigh and the spider calf are formed by three-dimensional printing.
As the preferred scheme of the invention, the leg section steering engine plays a role in supporting the whole weight of the bionic spider under the static load condition; the overall mass of the bionic spider is M; under the condition of static load, the acting forces borne by the leg joint steering engines are uniformly distributed; considering the safety factor of the steering engine in operation, selecting the L of the leg joint steering engine which is farthest away from the center of gravity max And calculating the torque required by the leg joint steering engine.
Therefore, the calculation formula of the torque parameter of the leg joint steering engine is as follows:
wherein P is the load borne by the leg joint steering engine, and L is the vertical distance between the load borne by the leg joint steering engine and the working torque direction of the steering engine; m is the mass of the bionic spider, L max The distance between the leg joint steering engine and the farthest position of the center of gravity is taken as the distance; n is the number of leg joint steering engines required by the bionic spider; and determining the model of the leg joint steering engine according to the formula calculation result of the torque parameter of the leg joint steering engine, and checking the leg joint steering engine.
As a preferred scheme of the invention, the rotary joint steering engine realizes the forward and backward swinging of spider legs in the walking process of the bionic spider; in order to match the gait of the bionic spider, a plurality of swivel steering engines operate periodically; under the condition that the bionic spider crawls, the acting force borne by the matched rotating joint steering engine is uniformly distributed; considering safety factors under the work of the steering engine, the maximum static friction force required to be overcome when the bionic spider starts crawling is the maximum acting force; the maximum static friction coefficient u of the ground crawling is set to be 0.9; therefore, the calculation formula of the load F borne by the steering engine and the calculation formula of the torque parameter of the swivel steering engine are as follows:
T＝F·L
the bionic spider comprises an F rotating joint steering engine, a g rotating joint steering engine, a n rotating joint steering engine and a controller, wherein the F rotating joint steering engine bears load, M is the mass of the bionic spider, g is the gravity acceleration, u is the dynamic friction coefficient of ground crawling, and n is the number of the rotating joint steering engines which operate periodically; and determining the model of the swivel steering engine according to the calculation result of the torque parameter of the swivel steering engine, and checking the swivel steering engine.
As a preferred scheme of the bionic spider walking device, the knee joint steering engine provides forward pedaling force required in the walking process of the bionic spider; in order to match with the gait of the bionic spider, a plurality of knee joint steering engines perform periodic operation; under the condition that the bionic spider crawls, acting force borne by the matched knee joint steering engine is uniformly distributed; considering safety factors under the work of the steering engine, the pedaling force mainly overcomes the dynamic friction force in the crawling process when the bionic spider crawls; the dynamic friction coefficient u of the ground crawling is set to be 0.56; therefore, the calculation formula of the magnitude F of the load borne by the knee joint steering engine and the calculation formula of the torque parameter of the knee joint steering engine are as follows:
T＝F·L
the bionic spider comprises a knee joint steering engine, a bionic spider, a ground and a plurality of motors, wherein the F knee joint steering engine bears load, M is the mass of the bionic spider, g is the gravity acceleration, u is the maximum static friction coefficient of ground crawling, and n is the number of periodic operations of the knee joint steering engine; and determining the model of the knee joint steering engine according to the calculation result of the torque parameter of the knee joint steering engine, and checking the knee joint steering engine.
As a preferable scheme of the invention, the allowable stress [ sigma ] of the leg actuating mechanism of the bionic spider]=60Mpa, permissible safety factor [ n ]]=1.5; the leg actuating mechanism of the bionic spider is connected with the ground as a fixed end because of negative pressure control in the device in the crawling process, the steering engine torque is a load, and the stress intensity analysis and safety factor graphical analysis are carried out on the spider thigh and the spider shank through a Simulation plug-in of SOLIDWORKS software; comparing the stress intensity peak value sigma of the leg actuating mechanism of the bionic spider max And allowable stress [ sigma ]]The size of (d); leg actuating mechanism of bionic spiderSmall factor of safety n s And allowable safety factor n]The size of the spider is checked, and the spider thigh and the spider shank meet the strength requirement.
Compared with the prior art, the invention has the following beneficial effects:
(1) Because the invention adopts eight-foot linkage, fixed-point turning can be realized, the turning radius of the bionic spider is greatly reduced, the path planning of the bionic spider when encountering obstacles is optimized, the algorithm program is optimized, the obstacle avoidance and obstacle crossing performance of the bionic spider is improved, and the problem of overlarge turning radius of the original machine is solved.
(2) The invention is matched with a miniature negative pressure adsorption system based on an electromagnetic valve, and can apply the negative pressure generated by the adsorption system on a slope surface and a vertical wall surface to adsorb a bionic spider. The leg executing mechanism is controlled to move to realize climbing on the slope surface and the wall surface.
Drawings
Fig. 1 is an oblique view of a leg actuator.
Fig. 2 is a front view of the leg actuator.
Fig. 3 is an oblique view of the leg actuator with the suction cup, hex nut, suction cup fitting, spider shank removed.
Fig. 4 is a top view of the leg actuator with the suction cup, hex nut, suction cup fitting, spider shank removed.
In the figure: 1. a rotating section steering engine: 2. a cross bracket: 3. leg joint steering wheel: 4. spider thigh: 5. knee joint steering engine: 6. a long U support: 7. spider shank: 8. the sucker hardware fitting: 9. hexagonal nut: 10. and (4) sucking discs.
Detailed Description
The invention will be further illustrated and described with reference to specific embodiments. The described embodiments are merely exemplary of the disclosure and are not intended to limit the scope thereof. The technical characteristics of the embodiments of the invention can be correspondingly combined without mutual conflict.
As shown in fig. 1 and 2, a leg actuator of a multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis comprises a swivel steering engine 1, a cross bracket 2, a leg steering engine 3, a spider thigh 4, a knee steering engine 5, a long U bracket 6, a spider calf 7, a suction cup fitting 8 and a suction cup 10.
As shown in fig. 3 and 4, a rudder disc of the knuckle steering engine 1 is connected with one end of a cross bracket 2; the other end of the cross bracket 2 is connected with a rudder disc of the leg joint steering engine 3; the leg joint steering engine 3 is connected with one end of the spider thigh 4 and controls the spider thigh 4 to swing; the other end of the spider thigh 4 is connected with a knee joint steering engine 5.
A rudder disc of the knee joint steering engine 5 is connected with two arms of the long U-shaped bracket 6; the bottom of the long U-shaped bracket 6 is connected with the outer circle side surface of the upper end of the spider shank 7; the knee joint steering engine 5 drives and controls the movement of the spider shank through the long U-shaped bracket 6; wherein the axis of a steering wheel of the swivel steering engine 1 is vertical to the axis of a steering wheel of the leg steering engine 3, and the axis of the steering wheel of the leg steering engine 3 is parallel to the axis of a steering wheel of the knee steering engine 5. The lower end of the spider shank 7 is provided with a threaded hole; the middle part of the sucker fitting 8 is provided with a thread matched with the threaded hole of the spider shank 7, and the sucker fitting 8 is connected with the spider shank 7 through the thread; the lower end of the suction cup fitting 8 is connected with a suction cup 10. The upper end of the sucker hardware fitting (8) is connected with an external air path, so that the spider leg actuating mechanism has a negative pressure adsorption function.
In order to overcome the capability that the existing crawling bionic robot cannot crawl on a complex ground, an inclined plane and a vertical wall, the invention imitates the leg structure of a spider, skillfully designs three steering engines of a rotary joint, a leg joint and a knee joint to connect the thigh, the shank and the main board of the bionic spider, and prints the spider thigh and the spider shank through a three-dimensional printer. The spider legs of the bionic spider are formed by printing 3D printing material CR-PLA and allowable stress [ sigma ]]=60Mpa. The bionic spider legs are mainly controlled by a steering engine connecting support, the support is connected with the legs through self-tapping screws, the bionic spider legs are connected with the ground as fixed ends due to the fact that the bionic spider legs are controlled through negative pressure in the device in the crawling process, the steering engine torque is a load, and stress intensity analysis and safety coefficient graphic analysis are conducted on the bionic spider legs through Simulation plug-in units of SOLIDWORKS software. Through analysis, the stress intensity peak value on the bionic spider leg is mainly distributed in a local small range at the joint of the steering engine and the spider leg, and the stress peak value sigma is max ＝13.02MPaSatisfy σ max ≤[σ]=60MPa. Minimum safety factor n of bionic spider leg s =4.6, satisfies n s ≥[n]=1.5. Therefore, the bionic spider leg meets the strength requirement.
In this embodiment, according to the method for checking and determining the type of the leg joint steering engine of the leg actuating mechanism of the multifunctional bionic spider, the leg joint steering engine plays a role in supporting the gravity of the whole bionic spider under the static load condition. The overall mass M of the bionic spider is 6.83kg. P is the size of the load borne by the steering engine, and L is the vertical distance between the load borne by the steering engine and the working torque direction of the steering engine. Under the condition of static load, the acting forces borne by eight leg joint steering engines are uniformly distributed. Considering the safety factor of the steering engine in operation, selecting the L at the position of the steering engine farthest away from the center of gravity max And calculating the torque required by the leg joint steering engine for 15 cm.
And selecting a ZX-361D type steering engine according to the calculation result.
The rotary joint steering engines realize the back-and-forth swing of spider legs in the walking process of the bionic spider, and are matched with gait of the bionic spider, and the four rotary joint steering engines periodically operate. Under the condition that the bionic spider crawls, acting forces borne by the four matched rotating joint steering engines are uniformly distributed. Considering safety factors under the work of the steering engine, the maximum static friction force required to be overcome when the bionic spider crawls and starts is the maximum acting force. The vertical distance L between the load borne by the steering engine and the working torque direction of the steering engine is 16.7cm; and (4) looking up related data to obtain the maximum static friction coefficient u =0.9 of the ground crawling.
T＝F·L＝15.1*16.7＝252.17N·cm
And selecting a ZX-20D type steering engine according to the calculation result.
The knee joint steering engines provide forward pedaling force required in the walking process of the bionic spider, and are matched with gait of the bionic spider, so that the four knee joint steering engines perform periodic operation. Under the condition that the bionic spider crawls, acting forces borne by four knee joint steering engines are uniformly distributed. The pedaling force of the bionic spider during crawling mainly overcomes the dynamic friction force in the crawling process.
And looking up related data, the dynamic friction coefficient u =0.56 of the bionic spider ground crawling.
T＝F·L＝9.4*16.7＝156.98N·cm
And selecting a ZX-20D type steering engine according to the calculation result.
The series of steering engines selected in the embodiment belong to intelligent serial bus steering engines, the read-back function is supported, data results can be analyzed and optimized in the gait design of the bionic spider, meanwhile, the accuracy of the steering engines is higher to be 0.24 degrees, and accurate control of the bionic spider in adjusting the abdominal height can be completed.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (7)
1. A leg executing mechanism of a multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis is characterized by comprising a rotary joint steering engine (1), a cross bracket (2), a leg joint steering engine (3), spider thighs (4), a knee joint steering engine (5), a long U bracket (6), spider shanks (7), a sucker fitting (8) and a sucker (10);
the steering wheel (1) of the rotary joint is fixed on the multifunctional bionic spider, and a steering wheel of the steering wheel (1) of the rotary joint is connected with one end of the cross-shaped bracket (2); the other end of the cross bracket (2) is connected with a rudder disc of the leg joint steering engine (3); the leg section steering engine (3) is fixedly connected with one end of the spider thigh (4) and controls the spider thigh (4) to swing; the other end of the spider thigh (4) is connected with a knee joint steering engine (5); a rudder disc of the knee joint steering engine (5) is connected with two arms of the long U-shaped bracket (6); the bottom of the long U-shaped bracket (6) is connected with the outer circle side surface of the upper end of the spider shank (7); the knee joint steering engine (5) is driven by the long U-shaped bracket (6) and controls the movement of the spider shank; the axis of a rudder disc of the swivel steering engine (1) is vertical to the axis of a rudder disc of the leg steering engine (3), and the axis of the rudder disc of the leg steering engine (3) is parallel to the axis of a rudder disc of the knee steering engine (5); the lower end of the spider shank (7) is provided with a threaded hole; the middle part of the sucker fitting (8) is provided with a thread matched with the threaded hole of the spider shank (7), and the sucker fitting (8) is connected with the spider shank (7) through the thread; the lower end of the sucker fitting (8) is connected with the sucker (10), and the upper end of the sucker fitting (8) is connected with an external air circuit.
2. The leg executing mechanism of the multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis of claim 1, characterized in that the suction cup hardware (8) is connected with the suction cup (10) through a hexagonal nut (9).
3. The leg actuator of the multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis according to claim 1, characterized in that the spider thigh (4) and the spider calf (7) are formed by three-dimensional printing.
4. The leg actuating mechanism of the multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis according to claim 1, characterized in that the leg section steering engine plays a role in supporting the whole weight of the bionic spider under static load; the whole mass of the bionic spider is M; under the condition of static load, the acting forces borne by the leg joint steering engines are uniformly distributed; considering the safety factor of the steering engine in operation, selecting the L at the position of the steering engine farthest away from the center of gravity max Calculating the torque required by the leg joint steering engine;
therefore, the calculation formula of the torque parameter of the leg joint steering engine is as follows:
wherein P is the load borne by the leg joint steering engine, and L is the vertical distance between the load borne by the leg joint steering engine and the working torque direction of the steering engine; m is the mass of the bionic spider, L max The distance from the leg joint steering engine to the position farthest from the gravity center is taken as the distance; n is the number of leg joint steering engines required by the bionic spider; and checking the leg joint steering engine according to a formula calculation result of the torque parameter of the leg joint steering engine.
5. The leg actuating mechanism of the multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis according to claim 1, characterized in that the swivel steering engine realizes the front and back swing of the spider legs in the walking process of the bionic spider; in order to match with the gait of the bionic spider, a plurality of swivel steering engines perform periodic operation; under the condition that the bionic spider crawls, the acting force born by the matched swivel steering engine is uniformly distributed; considering safety factors under the work of the steering engine, the maximum static friction force required to be overcome when the bionic spider starts crawling is the maximum acting force; the maximum static friction coefficient u of the ground crawling is set to be 0.9; therefore, the calculation formula of the load borne by the leg joint steering engine F and the calculation formula of the torque parameter of the rotating joint steering engine are as follows:
T＝F·L
the leg joint steering engine bearing load of the F is L which is the vertical distance between the leg joint steering engine bearing load and the steering engine working torque direction; m is the mass of the bionic spider, g is the gravity acceleration, u is the maximum static friction coefficient of ground crawling, and n is the number of the rotary joint steering engines in periodic operation; and checking the knuckle steering engine according to the calculation result of the torque parameter of the knuckle steering engine.
6. The leg actuating mechanism of the multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis according to claim 1, characterized in that the knee joint steering engine provides forward pedaling force required by the bionic spider in the walking process; in order to match the gait of the bionic spider, a plurality of knee joint steering engines operate periodically; under the condition that the bionic spider crawls, acting force borne by the matched knee joint steering engine is uniformly distributed; considering safety factors under the work of the steering engine, the pedaling force mainly overcomes the dynamic friction force in the crawling process when the bionic spider crawls; the dynamic friction coefficient u of the ground crawling is set to be 0.56; therefore, the calculation formula of the load bearing capacity F of the knee joint steering engine and the calculation formula of the torque parameter of the knee joint steering engine are as follows:
T＝F·L
the bionic spider comprises an F-knee steering engine, a G-knee steering engine and a N-knee steering engine, wherein the F-knee steering engine bears load, M is the mass of the bionic spider, g is the gravity acceleration, u is the most dynamic friction coefficient of ground crawling, and n is the number of the knee steering engines performing periodic operation; and checking the knee joint steering engine according to the calculation result of the torque parameter of the knee joint steering engine.
7. The leg actuator of the multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis of claim 1, wherein allowable stress [ sigma ] of the leg actuator of the bionic spider is allowable stress [ sigma ] of the leg actuator of the bionic spider]=60Mpa, permissible safety factor [ n ]]=1.5; the leg actuating mechanism of the bionic spider is connected with the ground as a fixed end because of negative pressure control in the device in the crawling process, the steering engine torque is a load, and the stress intensity analysis and safety factor graphical analysis are carried out on the spider thigh and the spider shank through a Simulation plug-in of SOLIDWORKS software; comparing the stress intensity peak value rho of the leg actuating mechanism of the bionic spider max And allowable stress [ rho ]]The size of (d); minimum safety factor n of leg actuating mechanism of bionic spider s And allowable safety factor n]The size of the spider is checked, and the spider thigh and the spider calf meet the strength requirement.
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