Gait Design And Kinematics Of A Gecko Inspired Robot Based On Virtual Prototype Technology

The gecko inspired robot is an important branch of bionic robot and it is a research focus of advanced robot. Gecko is a four-legged animal that can move flexibly on the surface of different legal such as ground, steep wall, ceiling, etc. Gecko robot is a robot system to imitate gecko's delicate structure, movement principles and behavior. The gecko robot has good kinematics dexterity and adaptability for the ground. It has a wide development prospect.Firstly, both the foreign and domestic status of research on wall-climbing robot was introduced and analyzed in detail. Then the theory of structural design for walking robot was discussed. Based on the study of anatomy and movement pattern of the gecko, the gecko robot's structure design and technical features were described. The forward and reverse kinematics of the joint mechanism of the robot's leg was analyzed. The kinematics equations and Jacobian matrix of 3-DOF robot arm were derived. The second-generation gecko robot with active adsorption and desorption was designed, and its structural characteristics was analyzed briefly. Through the study of gecko's gait, we planned a biomimetic wall crawling diagonal gait for the gecko inspired robot. Furthermore, we planned a s-shaped body diagonal gait and tripod gait for the second-generation gecko robot. The virtual prototype of the robot was built in the MSC.ADAMS and gait simulation was completed. The simulation results showed that the robot structure and the gait were feasible. Meanwhile, floor-wall transition gait for the gecko inspired robot was studied.The mechanical and control system model were established by ADAMS and Matlab/Simulink respectively. Co-simulation was done for the gecko robot.The control system model based on PID was established, and the co-simulation for the gecko robot's walking gait was achieved.Through the study of bionics,we designed a spring-damper model to simulate the soles'adhesion.Then we established the robot dynamic model to analyze the kinematics-based gait data, and verified that the design was advisable.