Research On The Prototype Of Crab-liked Robot

With the high development of bionics, MEMS, high-density information management and integration control, micro bionic robot technique has become researching focus of military robots. For its advantages, such as high performance of concealment, low power consumption and cost, convenient for disposal etc. The research of this paper supported by project of 'Amphibious Crab-liked Robot Study', which is funded by NSFC (National Natural Science Foundation of China) aims at establishing a micro motion-robot platform with high adaptation to complicated landform, high dependability and ability for movement in amphibious environment.The main research of this paper are the main scheme of the system, the design of mechanical structure, the design of hardware in driving control layer of crab-liked robot and identification of related function. We pay more attention to the research on total mechanical structure, the analysis of kinematics and kinetics, motor driving and control system based on ARM and the SCM of MSP430.We improved on the old scheme of the system and designed the new one, and analyzed the kinematics and kinetics of the crab-liked robot mold. We framed the two-layer control system. The core of distributed control layer is SW44B0 with the core of ARM7. The core of drive control layer is MSC chip MSP430f1222 and motor drive chip L6201 (Power).In the analysis of kinematics and dynamics, we founded the kinematics and dynamics equation and analyzed the parallel structure that pose appears when the crab-liked robot walks with the dual-four legs gait. All these above establish the fundament for movement control.As far as designs of driver control layers which is based on MSP430f1222 system, the system includes mini-system of SCM, the coder signal treatment module, the joints potentiometer signal treatment module, A/D transformationmodule of pressure sensor, and all that software and hardware modules. In addition, also determined RS485 bus as the medium of data exchanges between compatible control layer and driver control layer of bionic crab.After finished installation and debug, we testified the feasibility of software and hardware designs; furthermore, we need to complete this system in next work.