The Design Of Control System Of Amoeba-like Robot

May 12, 2008, the day for all of us Chinese people, will be the pain in our heart forever. 69142 people lost their life during the WenChuan earthquake in that day and huge house became ruin. China is one country of the worst disaster in the world, with the feature of various types of disasters, high frequency and wide distribution. In recent years, earthquakes and coalmine accidents occurred frequently in our country, which brought threaten to public safety and national economies and caused the attention of the relevant experts and scholars in this field. There are a lot of survivors trapped in the ruins after the disaster. Meanwhile the search and rescue work is very hard. Because the collapsed buildings after disaster have great potential to break down again and again. In this case, it is very hard for the rescue personnel to enter into the scene to search and rescue with the guarantee of their safety. In addition, the small space makes it impossible for the rescue personnel and rescue dogs to work. With the help of the search and rescue robot, it will improve the efficiency of rescue and reduce injuries of the rescue personnel. The rescue robot can help and even take place of the rescue robot's tasks. And it will play increasingly important role.This paper introduced the domestic and foreign status and significance of the search and rescue robot. And it summarized and analyzed the locomotion mode of traditional search and rescue robot. Considering the special environment with a lot of small space, soft robot may have advantages over the robots which were composed of the metal and hard materials. Our robot imitated the locomotion mechanism of Amoeba, driven by the contraction of the rope fettered on the body of the robot. Flexible thin film material was made into circle column shape as the skin of the robot. Meanwhile the liquid was injected into the circle column cavity. According to the stress analysis and simulation during the whole motion process, the paper designed the control module. Combining the C8051 serials control chip and wireless communication module nRF905, we designed the whole control system. The control system contained the controlled circuit, driven circuit, communication circuit, signal acquisition circuits and peripheral circuits. And then the paper demonstrated the design of the control code. Finally the experiment showed the feasibility that the Amoeba-like robot can move actuated by the contraction of the rope fettered on the body of the robot. Meanwhile it is proved that the whole skin locomotion can be the locomotion mechanism of the Amoeba-like soft robot. The paper is just a preliminary study on the Amoeba-like soft robot. It makes it possible that the Amoeba-like soft robot can be applied in the search and rescue after disaster and even more aspects in the future.