Research On Walking Mechanism And Control System Of Automobile Multi-Legged Bionic

The bionic walking type is new way forward based on bionics, it has no speed advantage as the way of wheel or crawler, but in the trench, bulge obstacle, wet road surface and special road surface, it has the obstacle of high ability, the strong adaptability for pavement, the advantage of high ability to through, what the other ways could not have. The bionic is mainly used in robots, and the application technology is relatively mature, rarely used in cars. The bionic walking mechanism in cars make it has not only the speed advantage of the way of wheel but also the strong adaptability for pavement and high ability to through. Though the research results both at home and aboard in the aspects of the leg mechanism, the complexity of the leg mechanism is related with its own freedom degree, and the more the legs of the degree of freedom, the more driver you need, also there will be more complicated in control. Therefore, in the paper it chose a degree of freedom of four-bar linkage which have simulation abroad-Hoecken mechanism. As the analysis of the mechanism trajectory, it has the ideal trajectory—’D’shaped trajectory, the crank has the same movement angle in straight line and curve line in the part of the’D’shape, and the rate of movement of the straight line part of the ’D’ shape is basically constant, which are an ideal leg mechanism should have, it just need a drive and the trajectory and the velocity are very ideal. At the same time, it is analyzed by the stability of the manner of tripod gait.In the paper, it has designed a leg adaptive mechanism, and made a mathematical modeling for the leg adaptive module, it also analyzed its movement condition and did a research of the corresponding control scheme.According to the design scheme, a model car design is carried out to verify the feasibility of the scheme. The paper designed the overall control of hardware circuit of the model car, and designed the main program flow chart of control according to the need to implement of the function.