The Analysis And Test Of The Robot Foot-ground Adhesion Properties

With the rapid development in the field of legged robot, including the BigDogdeveloped by Boston Dynamics, the ATHLETE all-terrain hexapod detectorsdeveloped by NASA and the TITAN series legged robots developed by ShigeoHirose in Tokyo Institute of Technology with the prominent performance. Leggedrobot has oriented environment more widely, which included the mountainenvironment mainly. Because of the legged robot with the discrete movement,making it has more advantage than the wheeled robot and tracked robot in mountain,but the main problem is the performance of robot foot is not ideal so that it is hard toclimb the large angle slope.Therefore, the research on large adhesion robot foot is critically and urgently.This paper studied the research on foot-terrain model, the structure design of thelarge adhesion robot foot and the performance test to anatomy connection betweenthe performance of climb the large angle slope and the structure of robot foot.Firstly, the paper describes on the robot foot-terrain model, then progressed theanalyse of the basic mechanics characteristic of soil, bring forward the concept offoot-terrain equivalent adhesion coefficient, established robot foot-terrain model,mensurated soil parameter based on the model, putted the soil cohesion and theangle of internal friction into the robot foot-terrain model, accounted foot-terrainequivalent adhesion coefficient of four representative foot, including flat foot, nailfoot, baffle foot, cross-grid foot, then progressed optimize analyse on thefoot-terrain equivalent adhesion coefficient.Secondly, the paper based on the robot foot-terrain model, progressed thestructure design of the large adhesion robot foot, including the structure design offootmark, digitoplant and thenar, then progressed intension checkout on the flimsypart in ANSYS.Thirdly, the paper describes on the performance test of large adhesion foot,fabricated the climb performance test estrade, progressed the high-point angle ondifferent load from four representative foot, analyzed which foot is better to climbthe large angle slope.Through with the works as the paper said, the paper studied the research onfoot-terrain model, the structure design of the large adhesion robot foot and theperformance test to anatomy connection between the performance of climb the largeangle slope and the structure of robot foot.